Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-03 22:48:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

Mission planner: Cleaned up parameter fetching code. Dropped requirement to receive parameters in numbered order, since with UDP communications parameter packages may arrive in random order.

Browse Source
This commit is contained in:
Janne M 2011-12-26 17:45:53 +02:00
parent 8b9eb0dad1
commit 71099006a6
1 changed files with 12 additions and 50 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

54
Tools/ArdupilotMegaPlanner/MAVLink.cs
View File

@ -590,12 +590,6 @@ namespace ArdupilotMega
public Hashtable getParamList() public Hashtable getParamList()
{ {
MainV2.givecomport = true; MainV2.givecomport = true;
List<int> missed = new List<int>();
// ryan - re start
__mavlink_param_request_read_t rereq = new __mavlink_param_request_read_t();
rereq.target_system = sysid;
rereq.target_component = compid;
__mavlink_param_request_list_t req = new __mavlink_param_request_list_t(); __mavlink_param_request_list_t req = new __mavlink_param_request_list_t();
req.target_system = sysid; req.target_system = sysid;
@ -607,10 +601,9 @@ namespace ArdupilotMega
DateTime restart = DateTime.Now; DateTime restart = DateTime.Now;
int retrys = 3; int retrys = 3;
int nextid = 0; int param_counter = 0;
int a = 0; int total_params = 9999;
int z = 5; while (param_counter < total_params-1)
while (a < z)
{ {
if (!(start.AddMilliseconds(5000) > DateTime.Now)) if (!(start.AddMilliseconds(5000) > DateTime.Now))
{ {
@ -622,23 +615,17 @@ namespace ArdupilotMega
retrys--; retrys--;
continue; continue;
} }
else
{
MainV2.givecomport = false; MainV2.givecomport = false;
throw new Exception("Timeout on read - getParamList"); throw new Exception("Timeout on read - getParamList");
} }
if (!(restart.AddMilliseconds(1000) > DateTime.Now))
{
rereq.param_id = new byte[] {0x0,0x0};
rereq.param_index = (short)nextid;
sendPacket(rereq);
restart = DateTime.Now;
} }
System.Windows.Forms.Application.DoEvents(); System.Windows.Forms.Application.DoEvents();
byte[] buffer = readPacket(); byte[] buffer = readPacket();
if (buffer.Length > 5) if (buffer.Length > 5)
{ {
//stopwatch.Reset();
//stopwatch.Start();
if (buffer[5] == MAVLINK_MSG_ID_PARAM_VALUE) if (buffer[5] == MAVLINK_MSG_ID_PARAM_VALUE)
{ {
restart = DateTime.Now; restart = DateTime.Now;
@ -652,26 +639,7 @@ namespace ArdupilotMega
par = (__mavlink_param_value_t)temp; par = (__mavlink_param_value_t)temp;
z = (par.param_count); total_params = (par.param_count);
if (nextid == (par.param_index))
{
nextid++;
}
else
{
if (retrys > 0)
{
generatePacket(MAVLINK_MSG_ID_PARAM_REQUEST_LIST, req);
a = 0;
nextid = 0;
retrys--;
continue;
}
missed.Add(nextid); // for later devel
MainV2.givecomport = false;
throw new Exception("Missed ID expecting " + nextid + " got " + (par.param_index) + "\nPlease try loading again");
}
string st = System.Text.ASCIIEncoding.ASCII.GetString(par.param_id); string st = System.Text.ASCIIEncoding.ASCII.GetString(par.param_id);
@ -682,20 +650,14 @@ namespace ArdupilotMega
st = st.Substring(0, pos); st = st.Substring(0, pos);
} }
Console.WriteLine(DateTime.Now.Millisecond + " got param " + (par.param_index) + " of " + (z - 1) + " name: " + st); Console.WriteLine(DateTime.Now.Millisecond + " got param " + (par.param_index) + " of " + (total_params - 1) + " name: " + st);
modifyParamForDisplay(true, st, ref par.param_value); modifyParamForDisplay(true, st, ref par.param_value);
param[st] = (par.param_value); param[st] = (par.param_value);
a++; param_counter = param.Count;
} }
else
{
//Console.WriteLine(DateTime.Now + " PC paramlist " + buffer[5] + " " + this.BytesToRead);
}
//stopwatch.Stop();
//Console.WriteLine("Time elapsed: {0}", stopwatch.Elapsed);
} }
} }
MainV2.givecomport = false; MainV2.givecomport = false;