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Code Issues Releases Activity

OP-1122 OP-1125 uavtalk - more OPReview-593 related cleanups

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This commit is contained in:
Philippe Renon 2013-11-29 01:21:45 +01:00
parent 50a0a4f512
commit 15c4392ed5
2 changed files with 19 additions and 3 deletions
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15
flight/uavtalk/uavtalk.c
View File

@ -671,11 +671,19 @@ uint32_t UAVTalkGetPacketObjId(UAVTalkConnection connectionHandle)
UAVTalkConnectionData *connection; UAVTalkConnectionData *connection;
CHECKCONHANDLE(connectionHandle, connection, return 0); CHECKCONHANDLE(connectionHandle, connection, return 0);
return connection->iproc.objId; return connection->iproc.objId;
} }
/** /**
* Receive an object. This function process objects received through the telemetry stream. * Receive an object. This function process objects received through the telemetry stream.
*
* Parser errors are considered as transmission errors and are not NACKed.
* Some senders (GCS) can timeout and retry if the message is not answered by an ack or nack.
*
* Object handling errors are considered as application errors and are NACked.
* In that case we want to nack as there is no point in the sender retrying to send invalid objects.
*
* \param[in] connection UAVTalkConnection to be used * \param[in] connection UAVTalkConnection to be used
* \param[in] type Type of received message (UAVTALK_TYPE_OBJ, UAVTALK_TYPE_OBJ_REQ, UAVTALK_TYPE_OBJ_ACK, UAVTALK_TYPE_ACK, UAVTALK_TYPE_NACK) * \param[in] type Type of received message (UAVTALK_TYPE_OBJ, UAVTALK_TYPE_OBJ_REQ, UAVTALK_TYPE_OBJ_ACK, UAVTALK_TYPE_ACK, UAVTALK_TYPE_NACK)
* \param[in] objId ID of the object to work on * \param[in] objId ID of the object to work on
@ -714,9 +722,9 @@ static int32_t receiveObject(UAVTalkConnectionData *connection,
if (obj && (instId != UAVOBJ_ALL_INSTANCES)) { if (obj && (instId != UAVOBJ_ALL_INSTANCES)) {
// Unpack object, if the instance does not exist it will be created! // Unpack object, if the instance does not exist it will be created!
if (UAVObjUnpack(obj, instId, data)) { if (UAVObjUnpack(obj, instId, data)) {
// Check if an ack is pending OBJ_ACK below // Check if this object acks a pending OBJ_REQ message
// TODO is it necessary to do that check? // any OBJ message can ack a pending OBJ_REQ message
// TODO if yes, why is the same check not done for OBJ_ACK below? // even one that was not sent in response to the OBJ_REQ message
updateAck(connection, obj, instId); updateAck(connection, obj, instId);
} }
else { else {
@ -750,6 +758,7 @@ static int32_t receiveObject(UAVTalkConnectionData *connection,
// Check if requested object exists // Check if requested object exists
if (obj && ((instId == UAVOBJ_ALL_INSTANCES) || instId < UAVObjGetNumInstances(obj))) { if (obj && ((instId == UAVOBJ_ALL_INSTANCES) || instId < UAVObjGetNumInstances(obj))) {
// Object found, transmit it // Object found, transmit it
// This OBJ message will also ack this request
sendObject(connection, UAVTALK_TYPE_OBJ, objId, instId, obj); sendObject(connection, UAVTALK_TYPE_OBJ, objId, instId, obj);
} else { } else {
ret = -1; ret = -1;

7
ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp
View File

@ -462,6 +462,13 @@ bool UAVTalk::processInputByte(quint8 rxbyte)
/** /**
* Receive an object. This function process objects received through the telemetry stream. * Receive an object. This function process objects received through the telemetry stream.
*
* Parser errors are considered as transmission errors and are not NACKed.
* Some senders (GCS) can timeout and retry if the message is not answered by an ack or nack.
*
* Object handling errors are considered as application errors and are NACked.
* In that case we want to nack as there is no point in the sender retrying to send invalid objects.
*
* \param[in] type Type of received message (TYPE_OBJ, TYPE_OBJ_REQ, TYPE_OBJ_ACK, TYPE_ACK, TYPE_NACK) * \param[in] type Type of received message (TYPE_OBJ, TYPE_OBJ_REQ, TYPE_OBJ_ACK, TYPE_ACK, TYPE_NACK)
* \param[in] obj Handle of the received object * \param[in] obj Handle of the received object
* \param[in] instId The instance ID of UAVOBJ_ALL_INSTANCES for all instances. * \param[in] instId The instance ID of UAVOBJ_ALL_INSTANCES for all instances.