MavCommandQueue Class Reference

#include <MavCommandQueue.h>

Inheritance diagram for MavCommandQueue:

Collaboration diagram for MavCommandQueue:

Signals
void	commandResult (int vehicleId, int targetComponent, int command, int ackResult, int failureCode)
	Emitted for every terminal ack that has no user-provided resultHandler.

Public Member Functions
	MavCommandQueue (Vehicle *vehicle)
	~MavCommandQueue ()
void	sendCommand (int compId, MAV_CMD command, bool showError, float param1=0.0f, float param2=0.0f, float param3=0.0f, float param4=0.0f, float param5=0.0f, float param6=0.0f, float param7=0.0f)
void	sendCommandDelayed (int compId, MAV_CMD command, bool showError, int milliseconds, float param1=0.0f, float param2=0.0f, float param3=0.0f, float param4=0.0f, float param5=0.0f, float param6=0.0f, float param7=0.0f)
void	sendCommandInt (int compId, MAV_CMD command, MAV_FRAME frame, bool showError, float param1, float param2, float param3, float param4, double param5, double param6, float param7)
void	sendCommandWithHandler (const MavCmdAckHandlerInfo_t *ackHandlerInfo, int compId, MAV_CMD command, float param1=0.0f, float param2=0.0f, float param3=0.0f, float param4=0.0f, float param5=0.0f, float param6=0.0f, float param7=0.0f)
void	sendCommandIntWithHandler (const MavCmdAckHandlerInfo_t *ackHandlerInfo, int compId, MAV_CMD command, MAV_FRAME frame, float param1=0.0f, float param2=0.0f, float param3=0.0f, float param4=0.0f, double param5=0.0, double param6=0.0, float param7=0.0f)
void	sendCommandWithLambdaFallback (std::function< void()> lambda, int compId, MAV_CMD command, bool showError, float param1=0.0f, float param2=0.0f, float param3=0.0f, float param4=0.0f, float param5=0.0f, float param6=0.0f, float param7=0.0f)
void	sendWorker (bool commandInt, bool showError, const MavCmdAckHandlerInfo_t *ackHandlerInfo, int compId, MAV_CMD command, MAV_FRAME frame, float param1, float param2, float param3, float param4, double param5, double param6, float param7)
bool	isPending (int targetCompId, MAV_CMD command) const
	True if a matching (targetCompId, command) is already queued or awaiting ack.
int	findEntryIndex (int targetCompId, MAV_CMD command) const
	Index of a matching entry in the pending queue, or -1. Exposed for test use.
void	handleCommandAck (const mavlink_message_t &message, const mavlink_command_ack_t &ack)
	Process a COMMAND_ACK — match it to a pending entry and fire callbacks.
void	stop ()

Static Public Member Functions
static QString	failureCodeToString (MavCmdResultFailureCode_t failureCode)
static void	showCommandAckError (const mavlink_command_ack_t &ack)

Static Public Attributes
static constexpr int	kTestAckTimeoutMs = 500
static constexpr int	kMaxRetryCount = 3
static constexpr int	kTestMaxWaitMs = kTestAckTimeoutMs * kMaxRetryCount * 2
Static Public Attributes inherited from VehicleTypes
static const int	versionNotSetValue = -1

Additional Inherited Members
Public Types inherited from VehicleTypes
enum	MavCmdResultFailureCode_t { MavCmdResultCommandResultOnly , MavCmdResultFailureNoResponseToCommand , MavCmdResultFailureDuplicateCommand }
enum	RequestMessageResultHandlerFailureCode_t {   RequestMessageNoFailure , RequestMessageFailureCommandError , RequestMessageFailureCommandNotAcked , RequestMessageFailureMessageNotReceived ,   RequestMessageFailureDuplicate }
typedef void(*	MavCmdProgressHandler) (void *progressHandlerData, int compId, const mavlink_command_ack_t &ack)
	Callback for sendMavCommandWithHandler which handles MAV_RESULT_IN_PROGRESS acks.
typedef void(*	MavCmdResultHandler) (void *resultHandlerData, int compId, const mavlink_command_ack_t &ack, MavCmdResultFailureCode_t failureCode)
	Callback for sendMavCommandWithHandler which handles all non-IN_PROGRESS acks.
typedef struct VehicleTypes::MavCmdAckHandlerInfo_s	MavCmdAckHandlerInfo_t
	Callback info bundle for sendMavCommandWithHandler.
typedef void(*	RequestMessageResultHandler) (void *resultHandlerData, MAV_RESULT commandResult, RequestMessageResultHandlerFailureCode_t failureCode, const mavlink_message_t &message)
	Callback for requestMessage — delivered when the ack/message pair resolves or a failure occurs.

Detailed Description

Owns the COMMAND_LONG / COMMAND_INT send/retry/ack pipeline for a single Vehicle.

Each outbound command is appended to a per-vehicle queue with its retry policy and ack timeout. A periodic timer resends entries whose ack window has expired; incoming COMMAND_ACK messages are matched by (compId, command) and either complete the entry or refresh its timer on MAV_RESULT_IN_PROGRESS.

Definition at line 20 of file MavCommandQueue.h.

Constructor & Destructor Documentation

MavCommandQueue()

MavCommandQueue::MavCommandQueue ( Vehicle *  vehicle )

explicit

Definition at line 20 of file MavCommandQueue.cc.

~MavCommandQueue()

MavCommandQueue::~MavCommandQueue

(

)

Definition at line 30 of file MavCommandQueue.cc.

Member Function Documentation

commandResult

void MavCommandQueue::commandResult ( int  vehicleId, int  targetComponent, int  command, int  ackResult, int  failureCode  )

signal

Emitted for every terminal ack that has no user-provided resultHandler.

Referenced by handleCommandAck(), and sendWorker().

failureCodeToString()

QString MavCommandQueue::failureCodeToString ( MavCmdResultFailureCode_t  failureCode )

static

Definition at line 497 of file MavCommandQueue.cc.

References VehicleTypes::MavCmdResultCommandResultOnly, VehicleTypes::MavCmdResultFailureDuplicateCommand, and VehicleTypes::MavCmdResultFailureNoResponseToCommand.

Referenced by Vehicle::mavCmdResultFailureCodeToString().

findEntryIndex()

int MavCommandQueue::findEntryIndex	(	int	targetCompId,
		MAV_CMD	command
	)		const

Index of a matching entry in the pending queue, or -1. Exposed for test use.

Definition at line 159 of file MavCommandQueue.cc.

Referenced by Vehicle::_findMavCommandListEntryIndex(), handleCommandAck(), and isPending().

handleCommandAck()

void MavCommandQueue::handleCommandAck	(	const mavlink_message_t &	message,
		const mavlink_command_ack_t &	ack
	)

Process a COMMAND_ACK — match it to a pending entry and fire callbacks.

Definition at line 458 of file MavCommandQueue.cc.

References commandResult(), findEntryIndex(), Vehicle::id(), MissionCommandTree::instance(), VehicleTypes::MavCmdResultCommandResultOnly, Vehicle::px4Firmware(), MissionCommandTree::rawName(), and showCommandAckError().

isPending()

bool MavCommandQueue::isPending	(	int	targetCompId,
		MAV_CMD	command
	)		const

True if a matching (targetCompId, command) is already queued or awaiting ack.

Definition at line 154 of file MavCommandQueue.cc.

References findEntryIndex().

Referenced by Vehicle::isMavCommandPending(), and sendWorker().

sendCommand()

void MavCommandQueue::sendCommand	(	int	compId,
		MAV_CMD	command,
		bool	showError,
		float	param1 = 0.0f,
		float	param2 = 0.0f,
		float	param3 = 0.0f,
		float	param4 = 0.0f,
		float	param5 = 0.0f,
		float	param6 = 0.0f,
		float	param7 = 0.0f
	)

Definition at line 45 of file MavCommandQueue.cc.

References sendWorker().

Referenced by sendCommandDelayed(), sendCommandWithLambdaFallback(), and Vehicle::sendMavCommand().

sendCommandDelayed()

void MavCommandQueue::sendCommandDelayed	(	int	compId,
		MAV_CMD	command,
		bool	showError,
		int	milliseconds,
		float	param1 = 0.0f,
		float	param2 = 0.0f,
		float	param3 = 0.0f,
		float	param4 = 0.0f,
		float	param5 = 0.0f,
		float	param6 = 0.0f,
		float	param7 = 0.0f
	)

Definition at line 56 of file MavCommandQueue.cc.

References sendCommand().

Referenced by Vehicle::sendMavCommandDelayed().

sendCommandInt()

void MavCommandQueue::sendCommandInt	(	int	compId,
		MAV_CMD	command,
		MAV_FRAME	frame,
		bool	showError,
		float	param1,
		float	param2,
		float	param3,
		float	param4,
		double	param5,
		double	param6,
		float	param7
	)

Definition at line 63 of file MavCommandQueue.cc.

References sendWorker().

Referenced by Vehicle::sendMavCommandInt().

sendCommandIntWithHandler()

void MavCommandQueue::sendCommandIntWithHandler	(	const MavCmdAckHandlerInfo_t *	ackHandlerInfo,
		int	compId,
		MAV_CMD	command,
		MAV_FRAME	frame,
		float	param1 = 0.0f,
		float	param2 = 0.0f,
		float	param3 = 0.0f,
		float	param4 = 0.0f,
		double	param5 = 0.0,
		double	param6 = 0.0,
		float	param7 = 0.0f
	)

Definition at line 85 of file MavCommandQueue.cc.

References sendWorker().

Referenced by Vehicle::sendMavCommandIntWithHandler().

sendCommandWithHandler()

void MavCommandQueue::sendCommandWithHandler	(	const MavCmdAckHandlerInfo_t *	ackHandlerInfo,
		int	compId,
		MAV_CMD	command,
		float	param1 = 0.0f,
		float	param2 = 0.0f,
		float	param3 = 0.0f,
		float	param4 = 0.0f,
		float	param5 = 0.0f,
		float	param6 = 0.0f,
		float	param7 = 0.0f
	)

Definition at line 74 of file MavCommandQueue.cc.

References sendWorker().

Referenced by sendCommandWithLambdaFallback(), Vehicle::sendMavCommandWithHandler(), and MessageIntervalManager::setMessageRate().

sendCommandWithLambdaFallback()

void MavCommandQueue::sendCommandWithLambdaFallback	(	std::function< void()>	lambda,
		int	compId,
		MAV_CMD	command,
		bool	showError,
		float	param1 = 0.0f,
		float	param2 = 0.0f,
		float	param3 = 0.0f,
		float	param4 = 0.0f,
		float	param5 = 0.0f,
		float	param6 = 0.0f,
		float	param7 = 0.0f
	)

Definition at line 129 of file MavCommandQueue.cc.

References Vehicle::firmwarePluginInstanceData(), sendCommand(), sendCommandWithHandler(), FirmwarePluginInstanceData::SUPPORTED, FirmwarePluginInstanceData::UNKNOWN, and FirmwarePluginInstanceData::UNSUPPORTED.

Referenced by Vehicle::sendMavCommandWithLambdaFallback().

sendWorker()

void MavCommandQueue::sendWorker	(	bool	commandInt,
		bool	showError,
		const MavCmdAckHandlerInfo_t *	ackHandlerInfo,
		int	compId,
		MAV_CMD	command,
		MAV_FRAME	frame,
		float	param1,
		float	param2,
		float	param3,
		float	param4,
		double	param5,
		double	param6,
		float	param7
	)

Full-control entry point used by higher-level coordinators (e.g. RequestMessageCoordinator) that need to set commandInt/frame/handlers explicitly. Consumers should prefer the typed send* wrappers above.

Definition at line 243 of file MavCommandQueue.cc.

References commandResult(), Vehicle::id(), MissionCommandTree::instance(), isPending(), kMaxRetryCount, VehicleTypes::MavCmdResultCommandResultOnly, VehicleTypes::MavCmdResultFailureDuplicateCommand, VehicleTypes::MavCmdResultFailureNoResponseToCommand, VehicleLinkManager::primaryLink(), MissionCommandTree::rawName(), VehicleTypes::MavCmdAckHandlerInfo_s::resultHandler, VehicleTypes::MavCmdAckHandlerInfo_s::resultHandlerData, QGC::showAppMessage(), and Vehicle::vehicleLinkManager().

Referenced by sendCommand(), sendCommandInt(), sendCommandIntWithHandler(), and sendCommandWithHandler().

showCommandAckError()

void MavCommandQueue::showCommandAckError ( const mavlink_command_ack_t &  ack )

static

Definition at line 433 of file MavCommandQueue.cc.

References MissionCommandTree::friendlyName(), MissionCommandTree::instance(), MissionCommandTree::rawName(), and QGC::showAppMessage().

Referenced by handleCommandAck(), and Vehicle::showCommandAckError().

stop()

void MavCommandQueue::stop

(

)

Stop the response timer and clear pending entries without firing callbacks. Used during vehicle shutdown to prevent post-destruction callbacks.

Definition at line 36 of file MavCommandQueue.cc.

Referenced by Vehicle::~Vehicle().

Member Data Documentation

kMaxRetryCount

constexpr int MavCommandQueue::kMaxRetryCount = 3

staticconstexpr

Definition at line 63 of file MavCommandQueue.h.

Referenced by sendWorker().

kTestAckTimeoutMs

constexpr int MavCommandQueue::kTestAckTimeoutMs = 500

staticconstexpr

Definition at line 62 of file MavCommandQueue.h.

kTestMaxWaitMs

constexpr int MavCommandQueue::kTestMaxWaitMs = kTestAckTimeoutMs * kMaxRetryCount * 2

staticconstexpr

Definition at line 64 of file MavCommandQueue.h.

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The documentation for this class was generated from the following files:

• src/Vehicle/MavCommandQueue.h
• src/Vehicle/MavCommandQueue.cc