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Code Issues Releases Activity

OP-4 Flight/Telemetry Flush telemetry queues while connection is not yet established (to remove stale data)

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@605 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
vassilis 2010-05-08 00:22:07 +00:00 committed by vassilis
parent 85e5d74710
commit a337de22c7
1 changed files with 39 additions and 33 deletions
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72
flight/OpenPilot/Modules/Telemetry/telemetry.c
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@ -34,7 +34,7 @@
#define TASK_PRIORITY_TX (tskIDLE_PRIORITY + 1)
#define TASK_PRIORITY_TXPRI (tskIDLE_PRIORITY + 2)
#define REQ_TIMEOUT_MS 250
#define MAX_RETRIES 3
#define MAX_RETRIES 2
#define STATS_UPDATE_PERIOD_MS 5000
// Private types
@ -177,6 +177,7 @@ static void updateObject(UAVObjHandle obj)
static void processObjEvent(UAVObjEvent* ev)
{
UAVObjMetadata metadata;
FlightTelemetryStatsData flightStats;
int32_t retries;
int32_t success;
@ -190,45 +191,50 @@ static void processObjEvent(UAVObjEvent* ev)
}
else
{
// Get object metadata
UAVObjGetMetadata(ev->obj, &metadata);
// Act on event
retries = 0;
success = -1;
if(ev->event == EV_UPDATED || ev->event == EV_UPDATED_MANUAL)
// Only process event if connected to GCS or if object FlightTelemetryStats is updated
FlightTelemetryStatsGet(&flightStats);
if ( flightStats.Status == FLIGHTTELEMETRYSTATS_STATUS_CONNECTED || UAVObjGetID(ev->obj) == FLIGHTTELEMETRYSTATS_OBJID )
{
// Send update to GCS (with retries)
while(retries < MAX_RETRIES && success == -1)
// Get object metadata
UAVObjGetMetadata(ev->obj, &metadata);
// Act on event
retries = 0;
success = -1;
if(ev->event == EV_UPDATED || ev->event == EV_UPDATED_MANUAL)
{
success = UAVTalkSendObject(ev->obj, ev->instId, metadata.telemetryAcked, REQ_TIMEOUT_MS); // call blocks until ack is received or timeout
++retries;
// Send update to GCS (with retries)
while(retries < MAX_RETRIES && success == -1)
{
success = UAVTalkSendObject(ev->obj, ev->instId, metadata.telemetryAcked, REQ_TIMEOUT_MS); // call blocks until ack is received or timeout
++retries;
}
// Update stats
txRetries += (retries-1);
if ( success == -1 )
{
++txErrors;
}
}
// Update stats
txRetries += (retries-1);
if ( success == -1 )
else if(ev->event == EV_UPDATE_REQ)
{
++txErrors;
// Request object update from GCS (with retries)
while(retries < MAX_RETRIES && success == -1)
{
success = UAVTalkSendObjectRequest(ev->obj, ev->instId, REQ_TIMEOUT_MS); // call blocks until update is received or timeout
++retries;
}
// Update stats
txRetries += (retries-1);
if ( success == -1 )
{
++txErrors;
}
}
}
else if(ev->event == EV_UPDATE_REQ)
{
// Request object update from GCS (with retries)
while(retries < MAX_RETRIES && success == -1)
// If this is a metaobject then make necessary telemetry updates
if(UAVObjIsMetaobject(ev->obj))
{
success = UAVTalkSendObjectRequest(ev->obj, ev->instId, REQ_TIMEOUT_MS); // call blocks until update is received or timeout
++retries;
updateObject(UAVObjGetLinkedObj(ev->obj)); // linked object will be the actual object the metadata are for
}
// Update stats
txRetries += (retries-1);
if ( success == -1 )
{
++txErrors;
}
}
// If this is a metaobject then make necessary telemetry updates
if(UAVObjIsMetaobject(ev->obj))
{
updateObject(UAVObjGetLinkedObj(ev->obj)); // linked object will be the actual object the metadata are for
}
}
}