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GCS_MAVLink: find next bucket to send when sending-ids emptied on msg removal

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We need to find the next bucket of messages to send when we've removed
the last message id from the current set of IDs we're sending out - not
just when we've empted the bucket the messages came from in the first
place.

An internal check caught this bug - the
'next_deferred_bucket_message_to_send called on empty bucket' error
This commit is contained in:
Peter Barker 2020-07-04 08:48:27 +10:00 committed by Andrew Tridgell
parent fad8ee8384
commit 741520d598
1 changed files with 16 additions and 6 deletions
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22
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -1151,17 +1151,27 @@ void GCS_MAVLINK::update_send()
void GCS_MAVLINK::remove_message_from_bucket(int8_t bucket, ap_message id)
{
deferred_message_bucket[bucket].ap_message_ids.clear(id);
if (bucket == sending_bucket_id) {
bucket_message_ids_to_send.clear(id);
}
if (deferred_message_bucket[bucket].ap_message_ids.count() == 0) {
// bucket empty. Free it:
deferred_message_bucket[bucket].interval_ms = 0;
deferred_message_bucket[bucket].last_sent_ms = 0;
if (sending_bucket_id == bucket) {
}
if (bucket == sending_bucket_id) {
bucket_message_ids_to_send.clear(id);
if (bucket_message_ids_to_send.count() == 0) {
find_next_bucket_to_send();
} else {
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (deferred_message_bucket[bucket].interval_ms == 0 &&
deferred_message_bucket[bucket].last_sent_ms == 0) {
// we just freed this bucket! this would mean that
// somehow our messages-still-to-send was a superset
// of the messages in the bucket we were sending,
// which would be bad.
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
}
#endif
}
}
}