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Code Issues Releases Activity

Merge remote-tracking branch 'origin/filnet/OP-1246_RadioComBridge_bugs' into next

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This commit is contained in:
Alessio Morale 2014-04-01 21:31:32 +02:00
commit 18be34db05
5 changed files with 47 additions and 43 deletions
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43
flight/modules/RadioComBridge/RadioComBridge.c
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@ -290,20 +290,20 @@ static void updateRadioComBridgeStats()
RadioComBridgeStatsData radioComBridgeStats; RadioComBridgeStatsData radioComBridgeStats;
// Get telemetry stats // Get telemetry stats
UAVTalkGetStats(data->telemUAVTalkCon, &telemetryUAVTalkStats); UAVTalkGetStats(data->telemUAVTalkCon, &telemetryUAVTalkStats, true);
UAVTalkResetStats(data->telemUAVTalkCon);
// Get radio stats // Get radio stats
UAVTalkGetStats(data->radioUAVTalkCon, &radioUAVTalkStats); UAVTalkGetStats(data->radioUAVTalkCon, &radioUAVTalkStats, true);
UAVTalkResetStats(data->radioUAVTalkCon);
// Get stats object data // Get stats object data
RadioComBridgeStatsGet(&radioComBridgeStats); RadioComBridgeStatsGet(&radioComBridgeStats);
radioComBridgeStats.TelemetryTxRetries = data->telemetryTxRetries;
radioComBridgeStats.RadioTxRetries = data->radioTxRetries;
// Update stats object // Update stats object
radioComBridgeStats.TelemetryTxBytes += telemetryUAVTalkStats.txBytes; radioComBridgeStats.TelemetryTxBytes += telemetryUAVTalkStats.txBytes;
radioComBridgeStats.TelemetryTxFailures += telemetryUAVTalkStats.txErrors; radioComBridgeStats.TelemetryTxFailures += telemetryUAVTalkStats.txErrors;
radioComBridgeStats.TelemetryTxRetries += data->telemetryTxRetries;
radioComBridgeStats.TelemetryRxBytes += telemetryUAVTalkStats.rxBytes; radioComBridgeStats.TelemetryRxBytes += telemetryUAVTalkStats.rxBytes;
radioComBridgeStats.TelemetryRxFailures += telemetryUAVTalkStats.rxErrors; radioComBridgeStats.TelemetryRxFailures += telemetryUAVTalkStats.rxErrors;
@ -312,7 +312,6 @@ static void updateRadioComBridgeStats()
radioComBridgeStats.RadioTxBytes += radioUAVTalkStats.txBytes; radioComBridgeStats.RadioTxBytes += radioUAVTalkStats.txBytes;
radioComBridgeStats.RadioTxFailures += radioUAVTalkStats.txErrors; radioComBridgeStats.RadioTxFailures += radioUAVTalkStats.txErrors;
radioComBridgeStats.RadioTxRetries += data->radioTxRetries;
radioComBridgeStats.RadioRxBytes += radioUAVTalkStats.rxBytes; radioComBridgeStats.RadioRxBytes += radioUAVTalkStats.rxBytes;
radioComBridgeStats.RadioRxFailures += radioUAVTalkStats.rxErrors; radioComBridgeStats.RadioRxFailures += radioUAVTalkStats.rxErrors;
@ -343,11 +342,11 @@ static void telemetryTxTask(__attribute__((unused)) void *parameters)
updateRadioComBridgeStats(); updateRadioComBridgeStats();
} }
// Send update (with retries) // Send update (with retries)
int32_t ret = -1;
uint32_t retries = 0; uint32_t retries = 0;
int32_t success = -1; while (retries <= MAX_RETRIES && ret == -1) {
while (retries < MAX_RETRIES && success == -1) { ret = UAVTalkSendObject(data->telemUAVTalkCon, ev.obj, ev.instId, 0, RETRY_TIMEOUT_MS);
success = UAVTalkSendObject(data->telemUAVTalkCon, ev.obj, ev.instId, 0, RETRY_TIMEOUT_MS) == 0; if (ret == -1) {
if (success == -1) {
++retries; ++retries;
} }
} }
@ -377,11 +376,11 @@ static void radioTxTask(__attribute__((unused)) void *parameters)
if (xQueueReceive(data->radioEventQueue, &ev, MAX_PORT_DELAY) == pdTRUE) { if (xQueueReceive(data->radioEventQueue, &ev, MAX_PORT_DELAY) == pdTRUE) {
if ((ev.event == EV_UPDATED) || (ev.event == EV_UPDATE_REQ)) { if ((ev.event == EV_UPDATED) || (ev.event == EV_UPDATE_REQ)) {
// Send update (with retries) // Send update (with retries)
int32_t ret = -1;
uint32_t retries = 0; uint32_t retries = 0;
int32_t success = -1; while (retries <= MAX_RETRIES && ret == -1) {
while (retries < MAX_RETRIES && success == -1) { ret = UAVTalkSendObject(data->radioUAVTalkCon, ev.obj, ev.instId, 0, RETRY_TIMEOUT_MS);
success = UAVTalkSendObject(data->radioUAVTalkCon, ev.obj, ev.instId, 0, RETRY_TIMEOUT_MS) == 0; if (ret == -1) {
if (success == -1) {
++retries; ++retries;
} }
} }
@ -414,8 +413,8 @@ static void radioRxTask(__attribute__((unused)) void *parameters)
} }
} else if (PIOS_COM_TELEMETRY) { } else if (PIOS_COM_TELEMETRY) {
// Send the data straight to the telemetry port. // Send the data straight to the telemetry port.
// FIXME following call can fail (with -2 error code) if buffer is full // Following call can fail with -2 error code (buffer full) or -3 error code (could not acquire send mutex)
// it is the caller responsibility to retry in such cases... // It is the caller responsibility to retry in such cases...
int32_t ret = -2; int32_t ret = -2;
uint8_t count = 5; uint8_t count = 5;
while (count-- > 0 && ret < -1) { while (count-- > 0 && ret < -1) {
@ -514,8 +513,8 @@ static void serialRxTask(__attribute__((unused)) void *parameters)
if (bytes_to_process > 0) { if (bytes_to_process > 0) {
// Send the data over the radio link. // Send the data over the radio link.
// FIXME following call can fail (with -2 error code) if buffer is full // Following call can fail with -2 error code (buffer full) or -3 error code (could not acquire send mutex)
// it is the caller responsibility to retry in such cases... // It is the caller responsibility to retry in such cases...
int32_t ret = -2; int32_t ret = -2;
uint8_t count = 5; uint8_t count = 5;
while (count-- > 0 && ret < -1) { while (count-- > 0 && ret < -1) {
@ -548,8 +547,8 @@ static int32_t UAVTalkSendHandler(uint8_t *buf, int32_t length)
} }
#endif /* PIOS_INCLUDE_USB */ #endif /* PIOS_INCLUDE_USB */
if (outputPort) { if (outputPort) {
// FIXME following call can fail (with -2 error code) if buffer is full // Following call can fail with -2 error code (buffer full) or -3 error code (could not acquire send mutex)
// it is the caller responsibility to retry in such cases... // It is the caller responsibility to retry in such cases...
ret = -2; ret = -2;
uint8_t count = 5; uint8_t count = 5;
while (count-- > 0 && ret < -1) { while (count-- > 0 && ret < -1) {
@ -578,8 +577,8 @@ static int32_t RadioSendHandler(uint8_t *buf, int32_t length)
// Don't send any data unless the radio port is available. // Don't send any data unless the radio port is available.
if (outputPort && PIOS_COM_Available(outputPort)) { if (outputPort && PIOS_COM_Available(outputPort)) {
// FIXME following call can fail (with -2 error code) if buffer is full // Following call can fail with -2 error code (buffer full) or -3 error code (could not acquire send mutex)
// it is the caller responsibility to retry in such cases... // It is the caller responsibility to retry in such cases...
int32_t ret = -2; int32_t ret = -2;
uint8_t count = 5; uint8_t count = 5;
while (count-- > 0 && ret < -1) { while (count-- > 0 && ret < -1) {

6
flight/modules/Telemetry/telemetry.c
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@ -544,12 +544,10 @@ static void updateTelemetryStats()
uint32_t timeNow; uint32_t timeNow;
// Get stats // Get stats
UAVTalkGetStats(uavTalkCon, &utalkStats); UAVTalkGetStats(uavTalkCon, &utalkStats, true);
#ifdef PIOS_INCLUDE_RFM22B #ifdef PIOS_INCLUDE_RFM22B
UAVTalkAddStats(radioUavTalkCon, &utalkStats); UAVTalkAddStats(radioUavTalkCon, &utalkStats, true);
UAVTalkResetStats(radioUavTalkCon);
#endif #endif
UAVTalkResetStats(uavTalkCon);
// Get object data // Get object data
FlightTelemetryStatsGet(&flightStats); FlightTelemetryStatsGet(&flightStats);

6
flight/uavtalk/inc/uavtalk.h
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@ -59,10 +59,10 @@ int32_t UAVTalkSendObjectTimestamped(UAVTalkConnection connectionHandle, UAVObjH
int32_t UAVTalkSendObjectRequest(UAVTalkConnection connection, UAVObjHandle obj, uint16_t instId, int32_t timeoutMs); int32_t UAVTalkSendObjectRequest(UAVTalkConnection connection, UAVObjHandle obj, uint16_t instId, int32_t timeoutMs);
UAVTalkRxState UAVTalkProcessInputStream(UAVTalkConnection connection, uint8_t rxbyte); UAVTalkRxState UAVTalkProcessInputStream(UAVTalkConnection connection, uint8_t rxbyte);
UAVTalkRxState UAVTalkProcessInputStreamQuiet(UAVTalkConnection connection, uint8_t rxbyte); UAVTalkRxState UAVTalkProcessInputStreamQuiet(UAVTalkConnection connection, uint8_t rxbyte);
UAVTalkRxState UAVTalkRelayPacket(UAVTalkConnection inConnectionHandle, UAVTalkConnection outConnectionHandle); int32_t UAVTalkRelayPacket(UAVTalkConnection inConnectionHandle, UAVTalkConnection outConnectionHandle);
int32_t UAVTalkReceiveObject(UAVTalkConnection connectionHandle); int32_t UAVTalkReceiveObject(UAVTalkConnection connectionHandle);
void UAVTalkGetStats(UAVTalkConnection connection, UAVTalkStats *stats); void UAVTalkGetStats(UAVTalkConnection connection, UAVTalkStats *stats, bool reset);
void UAVTalkAddStats(UAVTalkConnection connection, UAVTalkStats *stats); void UAVTalkAddStats(UAVTalkConnection connection, UAVTalkStats *stats, bool reset);
void UAVTalkResetStats(UAVTalkConnection connection); void UAVTalkResetStats(UAVTalkConnection connection);
void UAVTalkGetLastTimestamp(UAVTalkConnection connection, uint16_t *timestamp); void UAVTalkGetLastTimestamp(UAVTalkConnection connection, uint16_t *timestamp);
uint32_t UAVTalkGetPacketObjId(UAVTalkConnection connection); uint32_t UAVTalkGetPacketObjId(UAVTalkConnection connection);

33
flight/uavtalk/uavtalk.c
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@ -133,7 +133,7 @@ UAVTalkOutputStream UAVTalkGetOutputStream(UAVTalkConnection connectionHandle)
* \param[in] connection UAVTalkConnection to be used * \param[in] connection UAVTalkConnection to be used
* @param[out] statsOut Statistics counters * @param[out] statsOut Statistics counters
*/ */
void UAVTalkGetStats(UAVTalkConnection connectionHandle, UAVTalkStats *statsOut) void UAVTalkGetStats(UAVTalkConnection connectionHandle, UAVTalkStats *statsOut, bool reset)
{ {
UAVTalkConnectionData *connection; UAVTalkConnectionData *connection;
@ -145,6 +145,11 @@ void UAVTalkGetStats(UAVTalkConnection connectionHandle, UAVTalkStats *statsOut)
// Copy stats // Copy stats
memcpy(statsOut, &connection->stats, sizeof(UAVTalkStats)); memcpy(statsOut, &connection->stats, sizeof(UAVTalkStats));
if (reset) {
// Clear stats
memset(&connection->stats, 0, sizeof(UAVTalkStats));
}
// Release lock // Release lock
xSemaphoreGiveRecursive(connection->lock); xSemaphoreGiveRecursive(connection->lock);
} }
@ -154,7 +159,7 @@ void UAVTalkGetStats(UAVTalkConnection connectionHandle, UAVTalkStats *statsOut)
* \param[in] connection UAVTalkConnection to be used * \param[in] connection UAVTalkConnection to be used
* @param[out] statsOut Statistics counters * @param[out] statsOut Statistics counters
*/ */
void UAVTalkAddStats(UAVTalkConnection connectionHandle, UAVTalkStats *statsOut) void UAVTalkAddStats(UAVTalkConnection connectionHandle, UAVTalkStats *statsOut, bool reset)
{ {
UAVTalkConnectionData *connection; UAVTalkConnectionData *connection;
@ -175,6 +180,11 @@ void UAVTalkAddStats(UAVTalkConnection connectionHandle, UAVTalkStats *statsOut)
statsOut->rxSyncErrors += connection->stats.rxSyncErrors; statsOut->rxSyncErrors += connection->stats.rxSyncErrors;
statsOut->rxCrcErrors += connection->stats.rxCrcErrors; statsOut->rxCrcErrors += connection->stats.rxCrcErrors;
if (reset) {
// Clear stats
memset(&connection->stats, 0, sizeof(UAVTalkStats));
}
// Release lock // Release lock
xSemaphoreGiveRecursive(connection->lock); xSemaphoreGiveRecursive(connection->lock);
} }
@ -589,7 +599,7 @@ UAVTalkRxState UAVTalkProcessInputStream(UAVTalkConnection connectionHandle, uin
* \return 0 Success * \return 0 Success
* \return -1 Failure * \return -1 Failure
*/ */
UAVTalkRxState UAVTalkRelayPacket(UAVTalkConnection inConnectionHandle, UAVTalkConnection outConnectionHandle) int32_t UAVTalkRelayPacket(UAVTalkConnection inConnectionHandle, UAVTalkConnection outConnectionHandle)
{ {
UAVTalkConnectionData *inConnection; UAVTalkConnectionData *inConnection;
@ -656,17 +666,17 @@ UAVTalkRxState UAVTalkRelayPacket(UAVTalkConnection inConnectionHandle, UAVTalkC
outConnection->stats.txBytes += (rc > 0) ? rc : 0; outConnection->stats.txBytes += (rc > 0) ? rc : 0;
// evaluate return value before releasing the lock // evaluate return value before releasing the lock
UAVTalkRxState rxState = 0; int32_t ret = 0;
if (rc != (int32_t)(headerLength + inIproc->length + UAVTALK_CHECKSUM_LENGTH)) { if (rc != (int32_t)(headerLength + inIproc->length + UAVTALK_CHECKSUM_LENGTH)) {
outConnection->stats.txErrors++; outConnection->stats.txErrors++;
rxState = -1; ret = -1;
} }
// Release lock // Release lock
xSemaphoreGiveRecursive(outConnection->lock); xSemaphoreGiveRecursive(outConnection->lock);
// Done // Done
return rxState; return ret;
} }
/** /**
@ -862,7 +872,7 @@ static int32_t sendObject(UAVTalkConnectionData *connection, uint8_t type, uint3
{ {
uint32_t numInst; uint32_t numInst;
uint32_t n; uint32_t n;
uint32_t ret = -1; int32_t ret = -1;
// Important note : obj can be null (when type is NACK for example) so protect all obj dereferences. // Important note : obj can be null (when type is NACK for example) so protect all obj dereferences.
@ -880,8 +890,8 @@ static int32_t sendObject(UAVTalkConnectionData *connection, uint8_t type, uint3
// This allows the receiver to detect when the last object has been received (i.e. when instance 0 is received) // This allows the receiver to detect when the last object has been received (i.e. when instance 0 is received)
ret = 0; ret = 0;
for (n = 0; n < numInst; ++n) { for (n = 0; n < numInst; ++n) {
if (sendSingleObject(connection, type, objId, numInst - n - 1, obj) == -1) { ret = sendSingleObject(connection, type, objId, numInst - n - 1, obj);
ret = -1; if (ret == -1) {
break; break;
} }
} }
@ -904,8 +914,7 @@ static int32_t sendObject(UAVTalkConnectionData *connection, uint8_t type, uint3
* \param[in] connection UAVTalkConnection to be used * \param[in] connection UAVTalkConnection to be used
* \param[in] type Transaction type * \param[in] type Transaction type
* \param[in] objId The object ID * \param[in] objId The object ID
* \param[in] instId The instance ID (can NOT be UAVOBJ_ALL_INSTANCES, use * \param[in] instId The instance ID (can NOT be UAVOBJ_ALL_INSTANCES, use () instead)
() instead)
* \param[in] obj Object handle to send (null when type is NACK) * \param[in] obj Object handle to send (null when type is NACK)
* \return 0 Success * \return 0 Success
* \return -1 Failure * \return -1 Failure
@ -982,7 +991,7 @@ static int32_t sendSingleObject(UAVTalkConnectionData *connection, uint8_t type,
connection->stats.txBytes += tx_msg_len; connection->stats.txBytes += tx_msg_len;
} else { } else {
connection->stats.txErrors++; connection->stats.txErrors++;
// TDOD rc == -1 connection not open, -2 buffer full should retry // TODO rc == -1 connection not open, -2 buffer full should retry
connection->stats.txBytes += (rc > 0) ? rc : 0; connection->stats.txBytes += (rc > 0) ? rc : 0;
return -1; return -1;
} }

2
ground/openpilotgcs/src/plugins/uavtalk/uavtalk.h
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@ -105,8 +105,6 @@ private:
static const int TX_BUFFER_SIZE = 2 * 1024; static const int TX_BUFFER_SIZE = 2 * 1024;
static const quint8 crc_table[256];
// Types // Types
typedef enum { typedef enum {
STATE_SYNC, STATE_TYPE, STATE_SIZE, STATE_OBJID, STATE_INSTID, STATE_DATA, STATE_CS, STATE_COMPLETE, STATE_ERROR STATE_SYNC, STATE_TYPE, STATE_SIZE, STATE_OBJID, STATE_INSTID, STATE_DATA, STATE_CS, STATE_COMPLETE, STATE_ERROR