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GCS_MAVLink: exempt requested parameters from buffer space reservation

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Fixes a problem where we reserve space to send replies but then do not
bypass the reserved-space checks when sending them.
This commit is contained in:
Peter Barker 2019-03-14 12:22:04 +11:00 committed by Andrew Tridgell
parent f0200a4d9b
commit 4eba6d4fe2
2 changed files with 47 additions and 26 deletions
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5
libraries/GCS_MAVLink/GCS.h
View File

@ -633,9 +633,8 @@ private:
// IO timer callback for parameters
void param_io_timer(void);
// send an async parameter reply
bool send_parameter_reply(void);
uint8_t send_parameter_async_replies();
void send_distance_sensor(const AP_RangeFinder_Backend *sensor, const uint8_t instance) const;

68
libraries/GCS_MAVLink/GCS_Param.cpp
View File

@ -39,6 +39,9 @@ GCS_MAVLINK::queued_param_send()
return;
}
// send parameter async replies
uint8_t async_replies_sent_count = send_parameter_async_replies();
const uint32_t tnow = AP_HAL::millis();
const uint32_t tstart = AP_HAL::micros();
@ -61,13 +64,10 @@ GCS_MAVLINK::queued_param_send()
if (!have_flow_control() && count > 5) {
count = 5;
}
// send parameter async replies
while (count && send_parameter_reply()) {
// do nothing
_queued_parameter_send_time_ms = tnow;
count--;
if (async_replies_sent_count >= count) {
return;
}
count -= async_replies_sent_count;
if (_queued_parameter == nullptr) {
return;
@ -376,26 +376,48 @@ void GCS_MAVLINK::param_io_timer(void)
}
/*
send a reply to a PARAM_REQUEST_READ
send replies to PARAM_REQUEST_READ
*/
bool GCS_MAVLINK::send_parameter_reply(void)
uint8_t GCS_MAVLINK::send_parameter_async_replies()
{
struct pending_param_reply reply;
if (!param_replies.pop(reply)) {
// nothing to do
return false;
}
mavlink_msg_param_value_send(
reply.chan,
reply.param_name,
reply.value,
mav_param_type(reply.p_type),
reply.count,
reply.param_index);
uint8_t async_replies_sent_count = 0;
return true;
while (async_replies_sent_count < 5) {
if (param_replies.empty()) {
// nothing to do
return async_replies_sent_count;
}
/*
we reserve some space for sending parameters if the client ever
fails to get a parameter due to lack of space
*/
uint32_t saved_reserve_param_space_start_ms = reserve_param_space_start_ms;
reserve_param_space_start_ms = 0; // bypass packet_overhead_chan reservation checking
if (!HAVE_PAYLOAD_SPACE(chan, PARAM_VALUE)) {
reserve_param_space_start_ms = AP_HAL::millis();
return async_replies_sent_count;
}
reserve_param_space_start_ms = saved_reserve_param_space_start_ms;
struct pending_param_reply reply;
if (!param_replies.pop(reply)) {
// internal error
return async_replies_sent_count;
}
mavlink_msg_param_value_send(
reply.chan,
reply.param_name,
reply.value,
mav_param_type(reply.p_type),
reply.count,
reply.param_index);
_queued_parameter_send_time_ms = AP_HAL::millis();
async_replies_sent_count++;
}
return async_replies_sent_count;
}
void GCS_MAVLINK::handle_common_param_message(mavlink_message_t *msg)