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

#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	sendCommandIntWithLambdaFallback (std::function< void()> lambda, int compId, MAV_CMD command, MAV_FRAME frame, bool showError, 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	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 void	setTestAckTimeoutOverride (std::optional< int > msecs)

static std::optional< int >	testAckTimeoutOverride ()

Static Public Attributes
static constexpr int	kMaxRetryCount = 3

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 22 of file MavCommandQueue.h.

Constructor & Destructor Documentation

◆ MavCommandQueue()

MavCommandQueue::MavCommandQueue ( Vehicle * vehicle )

explicit

Definition at line 22 of file MavCommandQueue.cc.

◆ ~MavCommandQueue()

MavCommandQueue::~MavCommandQueue ( )

Definition at line 32 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 555 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 190 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 516 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 185 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 47 of file MavCommandQueue.cc.

References sendWorker().

Referenced by sendCommandDelayed(), 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 58 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 65 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 87 of file MavCommandQueue.cc.

References sendWorker().

Referenced by Vehicle::sendMavCommandIntWithHandler().

◆ sendCommandIntWithLambdaFallback()

void MavCommandQueue::sendCommandIntWithLambdaFallback	(	std::function< void()>	lambda,
		int	compId,
		MAV_CMD	command,
		MAV_FRAME	frame,
		bool	showError,
		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 180 of file MavCommandQueue.cc.

Referenced by Vehicle::sendMavCommandIntWithLambdaFallback().

◆ 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 76 of file MavCommandQueue.cc.

References sendWorker().

Referenced by 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 175 of file MavCommandQueue.cc.

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 291 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().

◆ setTestAckTimeoutOverride()

void MavCommandQueue::setTestAckTimeoutOverride ( std::optional< int > msecs )

static

Test-only: shorten the ack timeout for tests whose outcome depends on at least one ack window expiring (no ack, or ack only after a retry). Tests where every command is acked on first send must leave this unset so they run against the production timeout.

Definition at line 212 of file MavCommandQueue.cc.

References QGC::runningUnitTests().

◆ showCommandAckError()

void MavCommandQueue::showCommandAckError ( const mavlink_command_ack_t & ack )

static

Definition at line 491 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 38 of file MavCommandQueue.cc.

Referenced by Vehicle::~Vehicle().

◆ testAckTimeoutOverride()

std::optional< int > MavCommandQueue::testAckTimeoutOverride ( )

static

Definition at line 225 of file MavCommandQueue.cc.

Member Data Documentation

◆ kMaxRetryCount

constexpr int MavCommandQueue::kMaxRetryCount = 3

staticconstexpr

Definition at line 64 of file MavCommandQueue.h.

Referenced by sendWorker().

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

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

Signals

Public Member Functions

Static Public Member Functions

Static Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MavCommandQueue()

◆ ~MavCommandQueue()

Member Function Documentation

◆ commandResult

◆ failureCodeToString()

◆ findEntryIndex()

◆ handleCommandAck()

◆ isPending()

◆ sendCommand()

◆ sendCommandDelayed()

◆ sendCommandInt()

◆ sendCommandIntWithHandler()

◆ sendCommandIntWithLambdaFallback()

◆ sendCommandWithHandler()

◆ sendCommandWithLambdaFallback()

◆ sendWorker()

◆ setTestAckTimeoutOverride()

◆ showCommandAckError()

◆ stop()

◆ testAckTimeoutOverride()

Member Data Documentation

◆ kMaxRetryCount