#include <RequestMessageCoordinator.h>

Inheritance diagram for RequestMessageCoordinator:

Collaboration diagram for RequestMessageCoordinator:

Public Member Functions
	RequestMessageCoordinator (Vehicle vehicle, MavCommandQueue commandQueue)

	~RequestMessageCoordinator ()

void	requestMessage (RequestMessageResultHandler resultHandler, void *resultHandlerData, int compId, int messageId, float param1=0.0f, float param2=0.0f, float param3=0.0f, float param4=0.0f, float param5=0.0f)

void	handleReceivedMessage (const mavlink_message_t &message)

void	stop ()
	Clear pending state without firing callbacks (used during vehicle shutdown).

Static Public Member Functions
static QString	failureCodeToString (RequestMessageResultHandlerFailureCode_t failureCode)

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.

Static Public Attributes inherited from VehicleTypes
static const int	versionNotSetValue = -1

Detailed Description

Coordinates MAV_CMD_REQUEST_MESSAGE workflows: per-component queueing, ack/message correlation, duplicate suppression, and timeout handling for the requested message.

Layers on top of MavCommandQueue for the actual command send + ack callback.

Definition at line 18 of file RequestMessageCoordinator.h.

Constructor & Destructor Documentation

◆ RequestMessageCoordinator()

RequestMessageCoordinator::RequestMessageCoordinator	(	Vehicle *	vehicle,
		MavCommandQueue *	commandQueue
	)

Definition at line 11 of file RequestMessageCoordinator.cc.

◆ ~RequestMessageCoordinator()

RequestMessageCoordinator::~RequestMessageCoordinator ( )

Definition at line 18 of file RequestMessageCoordinator.cc.

References stop().

Member Function Documentation

◆ failureCodeToString()

QString RequestMessageCoordinator::failureCodeToString ( RequestMessageResultHandlerFailureCode_t failureCode )

static

Definition at line 334 of file RequestMessageCoordinator.cc.

References VehicleTypes::RequestMessageFailureCommandError, VehicleTypes::RequestMessageFailureCommandNotAcked, VehicleTypes::RequestMessageFailureDuplicate, VehicleTypes::RequestMessageFailureMessageNotReceived, and VehicleTypes::RequestMessageNoFailure.

Referenced by Vehicle::requestMessageResultHandlerFailureCodeToString().

◆ handleReceivedMessage()

void RequestMessageCoordinator::handleReceivedMessage ( const mavlink_message_t & message )

Called for every inbound mavlink message so the coordinator can correlate arrivals with outstanding requests and enforce per-request timeouts.

Definition at line 150 of file RequestMessageCoordinator.cc.

References VehicleTypes::RequestMessageFailureMessageNotReceived, VehicleTypes::RequestMessageNoFailure, and QGC::runningUnitTests().

◆ requestMessage()

void RequestMessageCoordinator::requestMessage	(	RequestMessageResultHandler	resultHandler,
		void *	resultHandlerData,
		int	compId,
		int	messageId,
		float	param1 = `0.0f`,
		float	param2 = `0.0f`,
		float	param3 = `0.0f`,
		float	param4 = `0.0f`,
		float	param5 = `0.0f`
	)