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Code Issues Releases Activity

OP-1122 OP-1145 flight telemetry improvement

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- create periodic queue events only for periodically updated uavobjects
- made error handling more robust
- added a FIXME concerning FlighTelemetryStats as it is updated peridocally using two separate mechanisms
This commit is contained in:
Philippe Renon 2014-01-06 21:48:34 +01:00
parent fe4fe46e34
commit 03b3dca76c
1 changed files with 32 additions and 17 deletions
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49
flight/modules/Telemetry/telemetry.c
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@ -158,6 +158,7 @@ int32_t TelemetryInitialize(void)
#endif
// Create periodic event that will be used to update the telemetry stats
// FIXME STATS_UPDATE_PERIOD_MS is 4000ms while FlighTelemetryStats update period is 5000ms...
txErrors = 0;
txRetries = 0;
UAVObjEvent ev;
@ -177,18 +178,18 @@ MODULE_INITCALL(TelemetryInitialize, TelemetryStart);
static void registerObject(UAVObjHandle obj)
{
if (UAVObjIsMetaobject(obj)) {
/* Only connect change notifications for meta objects. No periodic updates */
// Only connect change notifications for meta objects. No periodic updates
UAVObjConnectQueue(obj, priorityQueue, EV_MASK_ALL_UPDATES);
} else {
// Setup object for periodic updates
UAVObjEvent ev = {
.obj = obj,
.instId = UAVOBJ_ALL_INSTANCES,
.event = EV_UPDATED_PERIODIC,
};
EventPeriodicQueueCreate(&ev, queue, 0);
ev.event = EV_LOGGING_PERIODIC;
EventPeriodicQueueCreate(&ev, queue, 0);
// UAVObjEvent ev = {
// .obj = obj,
// .instId = UAVOBJ_ALL_INSTANCES,
// .event = EV_UPDATED_PERIODIC,
// };
// EventPeriodicQueueCreate(&ev, queue, 0);
// ev.event = EV_LOGGING_PERIODIC;
// EventPeriodicQueueCreate(&ev, queue, 0);
// Setup object for telemetry updates
updateObject(obj, EV_NONE);
@ -295,7 +296,6 @@ static void processObjEvent(UAVObjEvent *ev)
{
UAVObjMetadata metadata;
UAVObjUpdateMode updateMode;
FlightTelemetryStatsData flightStats;
int32_t retries;
int32_t success;
@ -304,7 +304,6 @@ static void processObjEvent(UAVObjEvent *ev)
} else if (ev->obj == GCSTelemetryStatsHandle()) {
gcsTelemetryStatsUpdated();
} else {
FlightTelemetryStatsGet(&flightStats);
// Get object metadata
UAVObjGetMetadata(ev->obj, &metadata);
updateMode = UAVObjGetTelemetryUpdateMode(&metadata);
@ -312,7 +311,9 @@ static void processObjEvent(UAVObjEvent *ev)
// Act on event
retries = 0;
success = -1;
if ((ev->event == EV_UPDATED && (updateMode == UPDATEMODE_ONCHANGE || updateMode == UPDATEMODE_THROTTLED)) || ev->event == EV_UPDATED_MANUAL || ((ev->event == EV_UPDATED_PERIODIC) && (updateMode != UPDATEMODE_THROTTLED))) {
if ((ev->event == EV_UPDATED && (updateMode == UPDATEMODE_ONCHANGE || updateMode == UPDATEMODE_THROTTLED))
|| ev->event == EV_UPDATED_MANUAL
|| (ev->event == EV_UPDATED_PERIODIC && updateMode != UPDATEMODE_THROTTLED)) {
// Send update to GCS (with retries)
while (retries < MAX_RETRIES && success == -1) {
// call blocks until ack is received or timeout
@ -355,7 +356,9 @@ static void processObjEvent(UAVObjEvent *ev)
// Log UAVObject if necessary
if (ev->obj) {
updateMode = UAVObjGetLoggingUpdateMode(&metadata);
if ((ev->event == EV_UPDATED && (updateMode == UPDATEMODE_ONCHANGE || updateMode == UPDATEMODE_THROTTLED)) || ev->event == EV_LOGGING_MANUAL || ((ev->event == EV_LOGGING_PERIODIC) && (updateMode != UPDATEMODE_THROTTLED))) {
if ((ev->event == EV_UPDATED && (updateMode == UPDATEMODE_ONCHANGE || updateMode == UPDATEMODE_THROTTLED))
|| ev->event == EV_LOGGING_MANUAL
|| (ev->event == EV_LOGGING_PERIODIC && updateMode != UPDATEMODE_THROTTLED)) {
if (ev->instId == UAVOBJ_ALL_INSTANCES) {
success = UAVObjGetNumInstances(ev->obj);
for (retries = 0; retries < success; retries++) {
@ -488,12 +491,18 @@ static int32_t transmitData(uint8_t *data, int32_t length)
static int32_t setUpdatePeriod(UAVObjHandle obj, int32_t updatePeriodMs)
{
UAVObjEvent ev;
int32_t ret;
// Add object for periodic updates
// Add or update object for periodic updates
ev.obj = obj;
ev.instId = UAVOBJ_ALL_INSTANCES;
ev.event = EV_UPDATED_PERIODIC;
return EventPeriodicQueueUpdate(&ev, queue, updatePeriodMs);
ret = EventPeriodicQueueUpdate(&ev, queue, updatePeriodMs);
if (ret == -1) {
ret = EventPeriodicQueueCreate(&ev, queue, updatePeriodMs);
}
return ret;
}
/**
@ -506,12 +515,18 @@ static int32_t setUpdatePeriod(UAVObjHandle obj, int32_t updatePeriodMs)
static int32_t setLoggingPeriod(UAVObjHandle obj, int32_t updatePeriodMs)
{
UAVObjEvent ev;
int32_t ret;
// Add object for periodic updates
// Add or update object for periodic updates
ev.obj = obj;
ev.instId = UAVOBJ_ALL_INSTANCES;
ev.event = EV_LOGGING_PERIODIC;
return EventPeriodicQueueUpdate(&ev, queue, updatePeriodMs);
ret = EventPeriodicQueueUpdate(&ev, queue, updatePeriodMs);
if (ret == -1) {
ret = EventPeriodicQueueCreate(&ev, queue, updatePeriodMs);
}
return ret;
}
/**