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core: refactor MAVLink command queue #1546

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merged 3 commits into from
Sep 14, 2021
Merged

core: refactor MAVLink command queue #1546

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b0ccce6
core: refactor MAVLink command queue
julianoes Sep 13, 2021
9351798
commands: param1 is a float
JonasVautherin Sep 13, 2021
3b453d9
core: use uint32_t for param1 but round to it
julianoes Sep 14, 2021
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231 changes: 120 additions & 111 deletions src/core/mavlink_commands.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -94,10 +94,22 @@ void MavlinkCommandSender::queue_command_async(
<< (int)(command.target_system_id) << ", " << (int)(command.target_component_id);
}

CommandIdentification identification = identification_from_command(command);

for (auto work : _work_queue) {
if (work->identification == identification) {
LogWarn() << "Dropping command " << static_cast<int>(identification.command)
<< " that is already being sent";
auto temp_callback = callback;
call_callback(callback, Result::CommandDenied, NAN);
return;
}
}

auto new_work = std::make_shared<Work>();
new_work->timeout_s = _parent.timeout_s();
new_work->command = command;
new_work->mavlink_command = command.command;
new_work->identification = identification;
new_work->callback = callback;
_work_queue.push_back(new_work);
}
Expand All @@ -110,10 +122,22 @@ void MavlinkCommandSender::queue_command_async(
<< (int)(command.target_system_id) << ", " << (int)(command.target_component_id);
}

CommandIdentification identification = identification_from_command(command);

for (auto work : _work_queue) {
if (work->identification == identification) {
LogWarn() << "Dropping command " << static_cast<int>(identification.command)
<< " that is already being sent";
auto temp_callback = callback;
call_callback(callback, Result::CommandDenied, NAN);
return;
}
}

auto new_work = std::make_shared<Work>();
new_work->timeout_s = _parent.timeout_s();
new_work->command = command;
new_work->mavlink_command = command.command;
new_work->identification = identification;
new_work->callback = callback;
new_work->time_started = _parent.get_time().steady_time();
_work_queue.push_back(new_work);
Expand All @@ -136,29 +160,22 @@ void MavlinkCommandSender::receive_command_ack(mavlink_message_t message)
return;
}

CommandResultCallback temp_callback = nullptr;
std::pair<Result, float> temp_result{Result::UnknownError, NAN};
LockedQueue<Work>::Guard work_queue_guard(_work_queue);

{
std::lock_guard<std::mutex> lock(_sent_commands_mutex);
for (auto it = _work_queue.begin(); it != _work_queue.end(); ++it) {
auto work = *it;

if (_sent_commands.find(command_ack.command) == _sent_commands.end()) {
if (_command_debugging) {
LogDebug() << "Received ack from " << static_cast<int>(message.sysid) << '/'
<< static_cast<int>(message.compid)
<< " for unexisting command: " << static_cast<int>(command_ack.command)
<< "! Ignoring...";
} else {
LogWarn() << "Received ack for unexisting command: "
<< static_cast<int>(command_ack.command) << "! Ignoring...";
}
if (!work) {
LogErr() << "no work!";
return;
}

auto work = _sent_commands.at(command_ack.command);

if (!work) {
return;
if (work->identification.command != command_ack.command ||
(work->identification.target_system_id != 0 &&
work->identification.target_system_id != message.sysid) ||
(work->identification.target_component_id != 0 &&
work->identification.target_component_id != message.compid)) {
continue;
}

if (_command_debugging) {
Expand All @@ -167,46 +184,48 @@ void MavlinkCommandSender::receive_command_ack(mavlink_message_t message)
<< _parent.get_time().elapsed_since_s(work->time_started) << " s";
}

temp_callback = work->callback;
CommandResultCallback temp_callback = work->callback;
std::pair<Result, float> temp_result{Result::UnknownError, NAN};

switch (command_ack.result) {
case MAV_RESULT_ACCEPTED:
_parent.unregister_timeout_handler(work->timeout_cookie);
temp_result = {Result::Success, 1.0f};
_sent_commands.erase(work->mavlink_command);
_work_queue.erase(it);
break;

case MAV_RESULT_DENIED:
LogWarn() << "command denied (" << work->mavlink_command << ").";
LogWarn() << "command denied (" << work->identification.command << ").";
_parent.unregister_timeout_handler(work->timeout_cookie);
temp_result = {Result::CommandDenied, NAN};
_sent_commands.erase(work->mavlink_command);
_work_queue.erase(it);
break;

case MAV_RESULT_UNSUPPORTED:
LogWarn() << "command unsupported (" << work->mavlink_command << ").";
LogWarn() << "command unsupported (" << work->identification.command << ").";
_parent.unregister_timeout_handler(work->timeout_cookie);
temp_result = {Result::Unsupported, NAN};
_sent_commands.erase(work->mavlink_command);
_work_queue.erase(it);
break;

case MAV_RESULT_TEMPORARILY_REJECTED:
LogWarn() << "command temporarily rejected (" << work->mavlink_command << ").";
LogWarn() << "command temporarily rejected (" << work->identification.command
<< ").";
_parent.unregister_timeout_handler(work->timeout_cookie);
temp_result = {Result::CommandDenied, NAN};
_sent_commands.erase(work->mavlink_command);
_work_queue.erase(it);
break;

case MAV_RESULT_FAILED:
_parent.unregister_timeout_handler(work->timeout_cookie);
temp_result = {Result::CommandDenied, NAN};
_sent_commands.erase(work->mavlink_command);
_work_queue.erase(it);
break;

case MAV_RESULT_IN_PROGRESS:
if (static_cast<int>(command_ack.progress) != 255) {
LogInfo() << "progress: " << static_cast<int>(command_ack.progress) << " % ("
<< work->mavlink_command << ").";
<< work->identification.command << ").";
}
// If we get a progress update, we can raise the timeout
// to something higher because we know the initial command
Expand All @@ -215,7 +234,7 @@ void MavlinkCommandSender::receive_command_ack(mavlink_message_t message)
// case where there is no progress update and we keep trying.
_parent.unregister_timeout_handler(work->timeout_cookie);
_parent.register_timeout_handler(
std::bind(&MavlinkCommandSender::receive_timeout, this, work->mavlink_command),
std::bind(&MavlinkCommandSender::receive_timeout, this, work->identification),
work->retries_to_do * work->timeout_s,
&work->timeout_cookie);

Expand All @@ -226,141 +245,131 @@ void MavlinkCommandSender::receive_command_ack(mavlink_message_t message)
LogWarn() << "Received unknown ack.";
break;
}

if (temp_callback != nullptr) {
call_callback(temp_callback, temp_result.first, temp_result.second);
}

return;
}

if (temp_callback != nullptr) {
call_callback(temp_callback, temp_result.first, temp_result.second);
if (_command_debugging) {
LogDebug() << "Received ack from " << static_cast<int>(message.sysid) << '/'
<< static_cast<int>(message.compid)
<< " for unexisting command: " << static_cast<int>(command_ack.command)
<< "! Ignoring...";
} else {
LogWarn() << "Received ack for unexisting command: "
<< static_cast<int>(command_ack.command) << "! Ignoring...";
}
}

void MavlinkCommandSender::receive_timeout(const uint16_t command)
void MavlinkCommandSender::receive_timeout(const CommandIdentification& identification)
{
CommandResultCallback temp_callback = nullptr;
std::pair<Result, float> temp_result{Result::UnknownError, NAN};

{
std::lock_guard<std::mutex> lock(_sent_commands_mutex);

if (_sent_commands.find(command) == _sent_commands.end()) {
LogWarn() << "Timeout for unexisting command: " << static_cast<int>(command)
<< "! Ignoring...";
return;
}
LockedQueue<Work>::Guard work_queue_guard(_work_queue);

auto work = _sent_commands.at(command);
for (auto it = _work_queue.begin(); it != _work_queue.end(); ++it) {
auto work = *it;

if (!work) {
LogErr() << "Received timeout without item in queue.";
return;
if (work->identification != identification) {
continue;
}

if (work->retries_to_do > 0) {
// We're not sure the command arrived, let's retransmit.
LogWarn() << "sending again after "
<< _parent.get_time().elapsed_since_s(work->time_started)
<< " s, retries to do: " << work->retries_to_do << " ("
<< work->mavlink_command << ").";
<< work->identification.command << ").";

mavlink_message_t message = create_mavlink_message(work->command);
if (!_parent.send_message(message)) {
LogErr() << "connection send error in retransmit (" << work->mavlink_command
LogErr() << "connection send error in retransmit (" << work->identification.command
<< ").";
temp_callback = work->callback;
temp_result = {Result::ConnectionError, NAN};
_sent_commands.erase(work->mavlink_command);
} else {
--work->retries_to_do;
_parent.register_timeout_handler(
std::bind(&MavlinkCommandSender::receive_timeout, this, work->mavlink_command),
work->timeout_s,
&work->timeout_cookie);
}
--work->retries_to_do;
_parent.register_timeout_handler(
std::bind(&MavlinkCommandSender::receive_timeout, this, work->identification),
work->timeout_s,
&work->timeout_cookie);

} else {
// We have tried retransmitting, giving up now.
LogErr() << "Retrying failed (" << work->mavlink_command << ")";
LogErr() << "Retrying failed (" << work->identification.command << ")";

temp_callback = work->callback;
temp_result = {Result::ConnectionError, NAN};
_sent_commands.erase(work->mavlink_command);
_work_queue.erase(it);
}
}

if (temp_callback != nullptr) {
call_callback(temp_callback, temp_result.first, temp_result.second);

} else {
LogWarn() << "Timeout for unexisting command: " << static_cast<int>(identification.command)
<< "! Ignoring...";
}
}

void MavlinkCommandSender::do_work()
{
LockedQueue<Work>::Guard work_queue_guard(_work_queue);
auto work = work_queue_guard.get_front();

if (!work) {
// Nothing to do.
return;
}

if (work->already_sent) {
return;
}

// LogDebug() << "sending it the first time (" << work->mavlink_command << ")";
work->time_started = _parent.get_time().steady_time();

{
std::lock_guard<std::mutex> lock(_sent_commands_mutex);

const auto was_inserted =
_sent_commands.insert(std::make_pair(work->mavlink_command, work)).second;
for (auto work : _work_queue) {
if (work->already_sent) {
continue;
}

// The command is inserted in the list only if another command with the same id does
// not exist. If such an element exists, we refuse to send the new command.
if (!was_inserted) {
if (_command_debugging) {
LogDebug()
<< "Another command with the same command_id is still processing! Ignoring command "
<< static_cast<int>(work->mavlink_command);
bool already_being_sent = false;
for (auto other_work : _work_queue) {
// Ignore itself:
if (other_work == work) {
continue;
}

work_queue_guard.pop_front();

auto temp_callback = work->callback;
auto temp_result = std::make_pair<Result, float>(Result::CommandDenied, NAN);

if (temp_callback != nullptr) {
call_callback(temp_callback, temp_result.first, temp_result.second);
// Check if command with same command ID is already being sent.
if (other_work->already_sent &&
other_work->identification.command == work->identification.command) {
if (_command_debugging) {
LogDebug() << "Command " << static_cast<int>(work->identification.command)
<< " is already being sent, waiting...";
}
already_being_sent = true;
break;
}
}

return;
if (already_being_sent) {
continue;
}

mavlink_message_t message = create_mavlink_message(work->command);
if (!_parent.send_message(message)) {
LogErr() << "connection send error (" << work->mavlink_command << ")";
auto temp_callback = work->callback;
auto temp_result = std::make_pair<Result, float>(Result::ConnectionError, NAN);
// LogDebug() << "sending it the first time (" << work->mavlink_command << ")";
work->time_started = _parent.get_time().steady_time();

if (temp_callback != nullptr) {
call_callback(temp_callback, temp_result.first, temp_result.second);
{
mavlink_message_t message = create_mavlink_message(work->command);
if (!_parent.send_message(message)) {
LogErr() << "connection send error (" << work->identification.command << ")";
} else {
if (_command_debugging) {
LogDebug() << "Sent command " << static_cast<int>(work->identification.command);
}
}

_sent_commands.erase(work->mavlink_command);

return;
}
if (_command_debugging) {
LogDebug() << "Sent command " << static_cast<int>(work->mavlink_command);
}
}

work->already_sent = true;
_parent.register_timeout_handler(
std::bind(&MavlinkCommandSender::receive_timeout, this, work->mavlink_command),
work->timeout_s,
&work->timeout_cookie);
work->already_sent = true;

work_queue_guard.pop_front();
_parent.register_timeout_handler(
std::bind(&MavlinkCommandSender::receive_timeout, this, work->identification),
work->timeout_s,
&work->timeout_cookie);
}
}

void MavlinkCommandSender::call_callback(
Expand Down
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