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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.

This commit is contained in:
Janne M 2011-12-26 17:45:53 +02:00
parent 2bdda450e8
commit a4004b1df8
1 changed files with 12 additions and 50 deletions
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62
Tools/ArdupilotMegaPlanner/MAVLink.cs
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@ -590,12 +590,6 @@ namespace ArdupilotMega
public Hashtable getParamList()
{
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();
req.target_system = sysid;
@ -607,10 +601,9 @@ namespace ArdupilotMega
DateTime restart = DateTime.Now;
int retrys = 3;
int nextid = 0;
int a = 0;
int z = 5;
while (a < z)
int param_counter = 0;
int total_params = 9999;
while (param_counter < total_params-1)
{
if (!(start.AddMilliseconds(5000) > DateTime.Now))
{
@ -622,23 +615,17 @@ namespace ArdupilotMega
retrys--;
continue;
}
MainV2.givecomport = false;
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;
}
else
{
MainV2.givecomport = false;
throw new Exception("Timeout on read - getParamList");
}
}
System.Windows.Forms.Application.DoEvents();
byte[] buffer = readPacket();
if (buffer.Length > 5)
{
//stopwatch.Reset();
//stopwatch.Start();
if (buffer[5] == MAVLINK_MSG_ID_PARAM_VALUE)
{
restart = DateTime.Now;
@ -652,26 +639,7 @@ namespace ArdupilotMega
par = (__mavlink_param_value_t)temp;
z = (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");
}
total_params = (par.param_count);
string st = System.Text.ASCIIEncoding.ASCII.GetString(par.param_id);
@ -682,20 +650,14 @@ namespace ArdupilotMega
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);
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;