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AP_Logger: Strictly handle NACK/ACK 

This is a change in bevaiour. The previous behaviour was to check for a
NACK, and if it wasn't a NACK it was assumed to be an ACK. This is a bad
assumption to let people get away with, because in the future if we ever
add other options to the enum we are more likely to have to cope with
bad implementation in the wild
This commit is contained in:
Michael du Breuil 2021-08-19 17:11:27 -07:00 committed by Peter Barker
parent 4108e4b77f
commit 0c73da5e79
1 changed files with 10 additions and 4 deletions
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14
libraries/AP_Logger/AP_Logger_MAVLink.cpp
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@ -274,10 +274,16 @@ void AP_Logger_MAVLink::remote_log_block_status_msg(const GCS_MAVLINK &link,
if (!semaphore.take_nonblocking()) {
return;
}
if(packet.status == MAV_REMOTE_LOG_DATA_BLOCK_NACK) {
handle_retry(packet.seqno);
} else {
handle_ack(link, msg, packet.seqno);
switch ((MAV_REMOTE_LOG_DATA_BLOCK_STATUSES)packet.status) {
case MAV_REMOTE_LOG_DATA_BLOCK_NACK:
handle_retry(packet.seqno);
break;
case MAV_REMOTE_LOG_DATA_BLOCK_ACK:
handle_ack(link, msg, packet.seqno);
break;
// we apparently have to handle an END enum entry, just drop it so we catch future additions
case MAV_REMOTE_LOG_DATA_BLOCK_STATUSES_ENUM_END:
break;
}
semaphore.give();
}