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Code Issues Releases Activity

OP-349 CC-32: Improved the object save confirmation logic. It's got a lot of

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checks in there so pleaes let me know if people get any segfaults.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3099 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2011-03-29 01:29:56 +00:00 committed by peabody124
parent 4326a323e4
commit cebca6f67e
2 changed files with 50 additions and 11 deletions
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54
ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp
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@ -25,18 +25,18 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/ */
#include "configtaskwidget.h" #include "configtaskwidget.h"
#include <QtGui/QWidget> #include <QtGui/QWidget>
ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent) ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent)
{ {
saveState = IDLE;
queue.clear();
} }
ConfigTaskWidget::~ConfigTaskWidget() ConfigTaskWidget::~ConfigTaskWidget()
{ {
// Do nothing // Do nothing
} }
void ConfigTaskWidget::saveObjectToSD(UAVObject *obj) void ConfigTaskWidget::saveObjectToSD(UAVObject *obj)
@ -56,10 +56,15 @@ void ConfigTaskWidget::saveNextObject()
{ {
return; return;
} }
Q_ASSERT(saveState == IDLE);
// Get next object from the queue // Get next object from the queue
UAVObject* obj = queue.head(); UAVObject* obj = queue.head();
ObjectPersistence* objper = dynamic_cast<ObjectPersistence*>( getObjectManager()->getObject(ObjectPersistence::NAME) ); ObjectPersistence* objper = dynamic_cast<ObjectPersistence*>( getObjectManager()->getObject(ObjectPersistence::NAME) );
connect(objper, SIGNAL(transactionCompleted(UAVObject*,bool)), this, SLOT(transactionCompleted(UAVObject*,bool))); connect(objper, SIGNAL(transactionCompleted(UAVObject*,bool)), this, SLOT(objectPersistenceTransactionCompleted(UAVObject*,bool)));
connect(objper, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(objectPersistenceUpdated(UAVObject *)));
saveState = AWAITING_ACK;
if (obj != NULL) if (obj != NULL)
{ {
ObjectPersistence::DataFields data; ObjectPersistence::DataFields data;
@ -72,13 +77,46 @@ void ConfigTaskWidget::saveNextObject()
} }
} }
void ConfigTaskWidget::transactionCompleted(UAVObject* obj, bool success) /**
* @brief Process the transactionCompleted message from Telemetry indicating request sent successfully
* @param[in] The object just transsacted. Must be ObjectPersistance
* @param[in] success Indicates that the transaction did not time out
*
* After a failed transaction (usually timeout) resends the save request. After a succesful
* transaction will then wait for a save completed update from the autopilot.
*/
void ConfigTaskWidget::objectPersistenceTransactionCompleted(UAVObject* obj, bool success)
{ {
if(success && if(success) {
obj->getField("Operation")->getValue().toString().compare(QString("Completed")) == 0 ) { Q_ASSERT(obj->getName().compare("ObjectPersistence") == 0);
// Disconnect from sending object Q_ASSERT(saveState == AWAITING_ACK);
saveState = AWAITING_COMPLETED;
disconnect(obj, SIGNAL(transactionCompleted(UAVObject*,bool)), this, SLOT(objectPersistenceTransactionCompleted(UAVObject*,bool)));
} else if (!success) {
// Can be caused by timeout errors on sending. Send again.
saveNextObject();
}
}
/**
* @brief Process the ObjectPersistence updated message to confirm the right object saved
* then requests next object be saved.
* @param[in] The object just received. Must be ObjectPersistance
*/
void ConfigTaskWidget::objectPersistenceUpdated(UAVObject * obj)
{
Q_ASSERT(obj->getName().compare("ObjectPersistence") == 0);
if(saveState == AWAITING_COMPLETED) {
// Check flight is saying it completed. This is the only thing flight should do to trigger an update.
Q_ASSERT( obj->getField("Operation")->getValue().toString().compare(QString("Completed")) == 0 );
// Check right object saved
UAVObject* savingObj = queue.head();
Q_ASSERT( obj->getField("ObjectID")->getValue() == savingObj->getObjID() );
obj->disconnect(this); obj->disconnect(this);
queue.dequeue(); // We can now remove the object, it's done. queue.dequeue(); // We can now remove the object, it's done.
saveState = IDLE;
saveNextObject(); saveNextObject();
} }
} }

7
ground/openpilotgcs/src/plugins/config/configtaskwidget.h
View File

@ -50,13 +50,14 @@ public:
static double listMean(QList<double> list); static double listMean(QList<double> list);
public slots: private slots:
void transactionCompleted(UAVObject* obj, bool success); void objectPersistenceTransactionCompleted(UAVObject* obj, bool success);
void objectPersistenceUpdated(UAVObject * obj);
private: private:
QQueue<UAVObject*> queue; QQueue<UAVObject*> queue;
void saveNextObject(); void saveNextObject();
enum {IDLE, AWAITING_ACK, AWAITING_COMPLETED} saveState;
}; };