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mavlink_parameter_client.cpp
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#include "mavlink_parameter_helper.h"
#include "mavlink_parameter_client.h"
#include "mavlink_message_handler.h"
#include "timeout_handler.h"
#include "system_impl.h"
#include "plugin_base.h"
#include <algorithm>
#include <future>
#include <utility>
namespace mavsdk {
MavlinkParameterClient::MavlinkParameterClient(
Sender& sender,
MavlinkMessageHandler& message_handler,
TimeoutHandler& timeout_handler,
TimeoutSCallback timeout_s_callback,
AutopilotCallback autopilot_callback,
uint8_t target_system_id,
uint8_t target_component_id,
bool use_extended) :
_sender(sender),
_message_handler(message_handler),
_timeout_handler(timeout_handler),
_timeout_s_callback(std::move(timeout_s_callback)),
_autopilot_callback(std::move(autopilot_callback)),
_target_system_id(target_system_id),
_target_component_id(target_component_id),
_use_extended(use_extended)
{
if (const char* env_p = std::getenv("MAVSDK_PARAMETER_DEBUGGING")) {
if (std::string(env_p) == "1") {
LogDebug() << "Parameter debugging is on.";
_parameter_debugging = true;
}
}
if (_parameter_debugging) {
LogDebug() << "MavlinkParameterClient created for target compid: "
<< (int)_target_component_id << " and "
<< (_use_extended ? "extended" : "not extended");
}
if (_use_extended) {
_message_handler.register_one(
MAVLINK_MSG_ID_PARAM_EXT_VALUE,
[this](const mavlink_message_t& message) { process_param_ext_value(message); },
this);
_message_handler.register_one(
MAVLINK_MSG_ID_PARAM_EXT_ACK,
[this](const mavlink_message_t& message) { process_param_ext_ack(message); },
this);
} else {
_message_handler.register_one(
MAVLINK_MSG_ID_PARAM_VALUE,
[this](const mavlink_message_t& message) { process_param_value(message); },
this);
}
}
MavlinkParameterClient::~MavlinkParameterClient()
{
if (_parameter_debugging) {
LogDebug() << "MavlinkParameterClient destructed for target compid: "
<< (int)_target_component_id << " and "
<< (_use_extended ? "extended" : "not extended");
}
_message_handler.unregister_all(this);
}
MavlinkParameterClient::Result
MavlinkParameterClient::set_param(const std::string& name, const ParamValue& value)
{
auto prom = std::promise<Result>();
auto res = prom.get_future();
set_param_async(
name, value, [&prom](Result result) { prom.set_value(result); }, this);
return res.get();
}
void MavlinkParameterClient::set_param_async(
const std::string& name,
const ParamValue& value,
const SetParamCallback& callback,
const void* cookie)
{
if (name.size() > PARAM_ID_LEN) {
LogErr() << "Param name too long";
if (callback) {
callback(Result::ParamNameTooLong);
}
return;
}
if (value.is<std::string>() && !_use_extended) {
LogErr() << "String needs extended parameter protocol";
if (callback) {
callback(Result::StringTypeUnsupported);
}
return;
}
auto new_work = std::make_shared<WorkItem>(WorkItemSet{name, value, callback}, cookie);
_work_queue.push_back(new_work);
}
void MavlinkParameterClient::set_param_int_async(
const std::string& name, int32_t value, const SetParamCallback& callback, const void* cookie)
{
if (name.size() > PARAM_ID_LEN) {
LogErr() << "Param name too long";
if (callback) {
callback(Result::ParamNameTooLong);
}
return;
}
// PX4 only uses int32_t, so we can be sure and don't need to check the exact type first
// by getting the param, or checking the cache.
if (_autopilot_callback() == Autopilot::Px4) {
ParamValue value_to_set;
value_to_set.set(static_cast<int32_t>(value));
set_param_async(name, value_to_set, callback, cookie);
} else {
// We don't know which exact int type the server wants, so we have to get the param
// first to see the type before setting it.
auto param_opt = _param_cache.param_by_id(name, false);
if (param_opt.has_value()) {
// we have the parameter cached
auto param = param_opt.value();
if (param.value.set_int(value)) {
// we have successfully written whatever int the user provided into the int type
// that is actually stored
set_param_async(name, param.value, callback, cookie);
} else {
// We didn't find compatibility and give up.
LogErr() << "Wrong type for int in cache";
if (callback) {
callback(Result::WrongType);
}
return;
}
} else {
// parameter is not cached. Request it and then perform the appropriate action once we
// know it
auto send_message_once_type_is_known = [this, name, value, callback, cookie](
Result result,
ParamValue fetched_param_value) {
if (result == Result::Success) {
if (fetched_param_value.set_int(value)) {
// Since the callback itself is called with the work queue locked, we have
// to make sure that the work queue guard is removed before we call the
// finalizing callback of a work item.
set_param_async(name, fetched_param_value, callback, cookie);
} else {
// The param type returned does is not compatible with an int, give up.
LogErr() << "Wrong type for int returned";
if (callback) {
callback(Result::WrongType);
}
}
} else {
// Failed to get the param to get the type, pass on the error.
callback(result);
}
};
get_param_async(name, send_message_once_type_is_known, cookie);
}
}
}
MavlinkParameterClient::Result
MavlinkParameterClient::set_param_int(const std::string& name, int32_t value)
{
auto prom = std::promise<Result>();
auto res = prom.get_future();
set_param_int_async(
name, value, [&prom](Result result) { prom.set_value(result); }, this);
return res.get();
}
void MavlinkParameterClient::set_param_float_async(
const std::string& name, float value, const SetParamCallback& callback, const void* cookie)
{
ParamValue value_to_set;
value_to_set.set_float(value);
set_param_async(name, value_to_set, callback, cookie);
}
MavlinkParameterClient::Result
MavlinkParameterClient::set_param_float(const std::string& name, float value)
{
auto prom = std::promise<Result>();
auto res = prom.get_future();
set_param_float_async(
name, value, [&prom](Result result) { prom.set_value(result); }, this);
return res.get();
}
void MavlinkParameterClient::set_param_custom_async(
const std::string& name,
const std::string& value,
const SetParamCallback& callback,
const void* cookie)
{
if (name.size() > PARAM_ID_LEN) {
LogErr() << "Param name too long";
if (callback) {
callback(Result::ParamNameTooLong);
}
return;
}
if (value.size() > sizeof(mavlink_param_ext_set_t::param_value)) {
LogErr() << "Param value too long";
if (callback) {
callback(Result::ParamValueTooLong);
}
return;
}
ParamValue value_to_set;
value_to_set.set_custom(value);
set_param_async(name, value_to_set, callback, cookie);
}
MavlinkParameterClient::Result
MavlinkParameterClient::set_param_custom(const std::string& name, const std::string& value)
{
auto prom = std::promise<Result>();
auto res = prom.get_future();
set_param_custom_async(
name, value, [&prom](Result result) { prom.set_value(result); }, this);
return res.get();
}
void MavlinkParameterClient::get_param_async(
const std::string& name, const GetParamAnyCallback& callback, const void* cookie)
{
if (_parameter_debugging) {
LogDebug() << "Getting param " << name << ", extended: " << (_use_extended ? "yes" : "no");
}
if (name.size() > PARAM_ID_LEN) {
LogErr() << "Param name too long";
if (callback) {
callback(Result::ParamNameTooLong, {});
}
return;
}
auto new_work = std::make_shared<WorkItem>(WorkItemGet{name, callback}, cookie);
_work_queue.push_back(new_work);
}
void MavlinkParameterClient::get_param_async(
const std::string& name,
const ParamValue& value_type,
const GetParamAnyCallback& callback,
const void* cookie)
{
// We need to delay the type checking until we get a response from the server.
GetParamAnyCallback callback_future_result = [callback,
value_type](Result result, ParamValue value) {
if (result == Result::Success) {
if (value.is_same_type(value_type)) {
callback(Result::Success, std::move(value));
} else {
callback(Result::WrongType, {});
}
} else {
callback(result, {});
}
};
get_param_async(name, callback_future_result, cookie);
}
template<class T>
void MavlinkParameterClient::get_param_async_typesafe(
const std::string& name, const GetParamTypesafeCallback<T> callback, const void* cookie)
{
// We need to delay the type checking until we get a response from the server.
GetParamAnyCallback callback_future_result = [callback](Result result, ParamValue value) {
if (result == Result::Success) {
if (value.is<T>()) {
callback(Result::Success, value.get<T>());
} else {
callback(Result::WrongType, {});
}
} else {
callback(result, {});
}
};
get_param_async(name, callback_future_result, cookie);
}
void MavlinkParameterClient::get_param_float_async(
const std::string& name, const GetParamFloatCallback& callback, const void* cookie)
{
get_param_async_typesafe<float>(name, callback, cookie);
}
void MavlinkParameterClient::get_param_int_async(
const std::string& name, const GetParamIntCallback& callback, const void* cookie)
{
get_param_async_typesafe<int32_t>(name, callback, cookie);
}
void MavlinkParameterClient::get_param_custom_async(
const std::string& name, const GetParamCustomCallback& callback, const void* cookie)
{
get_param_async_typesafe<std::string>(name, callback, cookie);
}
std::pair<MavlinkParameterClient::Result, ParamValue>
MavlinkParameterClient::get_param(const std::string& name)
{
auto prom = std::promise<std::pair<Result, ParamValue>>();
auto res = prom.get_future();
get_param_async(
name,
[&prom](Result result, ParamValue new_value) {
prom.set_value(std::make_pair<>(result, std::move(new_value)));
},
this);
return res.get();
}
std::pair<MavlinkParameterClient::Result, int32_t>
MavlinkParameterClient::get_param_int(const std::string& name)
{
auto prom = std::promise<std::pair<Result, int32_t>>();
auto res = prom.get_future();
get_param_int_async(
name,
[&prom](Result result, int32_t value) { prom.set_value(std::make_pair<>(result, value)); },
this);
return res.get();
}
std::pair<MavlinkParameterClient::Result, float>
MavlinkParameterClient::get_param_float(const std::string& name)
{
auto prom = std::promise<std::pair<Result, float>>();
auto res = prom.get_future();
get_param_float_async(
name,
[&prom](Result result, float value) { prom.set_value(std::make_pair<>(result, value)); },
this);
return res.get();
}
std::pair<MavlinkParameterClient::Result, std::string>
MavlinkParameterClient::get_param_custom(const std::string& name)
{
auto prom = std::promise<std::pair<Result, std::string>>();
auto res = prom.get_future();
get_param_custom_async(
name,
[&prom](Result result, const std::string& value) {
prom.set_value(std::make_pair<>(result, value));
},
this);
return res.get();
}
void MavlinkParameterClient::get_all_params_async(GetAllParamsCallback callback, void* cookie)
{
if (_parameter_debugging) {
LogDebug() << "Getting all params, extended: " << (_use_extended ? "yes" : "no");
}
auto new_work =
std::make_shared<WorkItem>(WorkItemGetAll{std::move(callback), 0, false}, cookie);
_work_queue.push_back(new_work);
}
std::pair<MavlinkParameterClient::Result, std::map<std::string, ParamValue>>
MavlinkParameterClient::get_all_params()
{
std::promise<std::pair<MavlinkParameterClient::Result, std::map<std::string, ParamValue>>> prom;
auto res = prom.get_future();
get_all_params_async(
// Make sure to NOT use a reference for all_params here, pass by value.
// Since for example on a timeout, the empty all_params result is constructed in-place and
// then goes out of scope when the callback returns.
[&prom](Result result, std::map<std::string, ParamValue> set) {
prom.set_value({result, std::move(set)});
},
this);
auto ret = res.get();
return ret;
}
void MavlinkParameterClient::cancel_all_param(const void* cookie)
{
LockedQueue<WorkItem>::Guard work_queue_guard(_work_queue);
// We don't call any callbacks before erasing them as this is just used on destruction
// where we don't care anymore.
_work_queue.erase(std::remove_if(_work_queue.begin(), _work_queue.end(), [&](auto&& item) {
return (item->cookie == cookie);
}));
}
void MavlinkParameterClient::clear_cache()
{
_param_cache.clear();
}
void MavlinkParameterClient::do_work()
{
auto work_queue_guard = std::make_unique<LockedQueue<WorkItem>::Guard>(_work_queue);
auto work = work_queue_guard->get_front();
if (!work) {
return;
}
if (work->already_requested) {
return;
}
std::visit(
overloaded{
[&](WorkItemSet& item) {
if (!send_set_param_message(item)) {
LogErr() << "Send message failed";
work_queue_guard->pop_front();
if (item.callback) {
auto callback = item.callback;
work_queue_guard.reset();
callback(Result::ConnectionError);
}
return;
}
work->already_requested = true;
// We want to get notified if a timeout happens
_timeout_handler.add(
[this] { receive_timeout(); }, _timeout_s_callback(), &_timeout_cookie);
},
[&](WorkItemGet& item) {
if (!send_get_param_message(item)) {
LogErr() << "Send message failed";
work_queue_guard->pop_front();
if (item.callback) {
auto callback = item.callback;
work_queue_guard.reset();
item.callback(Result::ConnectionError, ParamValue{});
}
return;
}
work->already_requested = true;
// We want to get notified if a timeout happens
_timeout_handler.add(
[this] { receive_timeout(); }, _timeout_s_callback(), &_timeout_cookie);
},
[&](WorkItemGetAll& item) {
if (!send_request_list_message()) {
LogErr() << "Send message failed";
work_queue_guard->pop_front();
if (item.callback) {
auto callback = item.callback;
work_queue_guard.reset();
item.callback(Result::ConnectionError, {});
}
return;
}
work->already_requested = true;
// We want to get notified if a timeout happens
_timeout_handler.add(
[this] { receive_timeout(); }, _timeout_s_callback(), &_timeout_cookie);
}},
work->work_item_variant);
}
bool MavlinkParameterClient::send_set_param_message(WorkItemSet& work_item)
{
auto param_id = param_id_to_message_buffer(work_item.param_name);
mavlink_message_t message;
if (_use_extended) {
const auto param_value_buf = work_item.param_value.get_128_bytes();
return _sender.queue_message([&](MavlinkAddress mavlink_address, uint8_t channel) {
if (_parameter_debugging) {
LogDebug() << "Sending param_ext_set to:" << (int)mavlink_address.system_id << ":"
<< (int)mavlink_address.component_id;
}
mavlink_msg_param_ext_set_pack_chan(
mavlink_address.system_id,
mavlink_address.component_id,
channel,
&message,
_target_system_id,
_target_component_id,
param_id.data(),
param_value_buf.data(),
work_item.param_value.get_mav_param_ext_type());
return message;
});
} else {
const float value_set = (_autopilot_callback() == Autopilot::ArduPilot) ?
work_item.param_value.get_4_float_bytes_cast() :
work_item.param_value.get_4_float_bytes_bytewise();
return _sender.queue_message([&](MavlinkAddress mavlink_address, uint8_t channel) {
if (_parameter_debugging) {
LogDebug() << "Sending param_set to:" << (int)mavlink_address.system_id << ":"
<< (int)mavlink_address.component_id;
}
mavlink_msg_param_set_pack_chan(
mavlink_address.system_id,
mavlink_address.component_id,
channel,
&message,
_target_system_id,
_target_component_id,
param_id.data(),
value_set,
work_item.param_value.get_mav_param_type());
return message;
});
}
}
bool MavlinkParameterClient::send_get_param_message(WorkItemGet& work_item)
{
std::array<char, PARAM_ID_LEN> param_id_buff{};
int16_t param_index = -1;
if (auto str = std::get_if<std::string>(&work_item.param_identifier)) {
param_id_buff = param_id_to_message_buffer(*str);
} else {
// param_id_buff doesn't matter
param_index = std::get<int16_t>(work_item.param_identifier);
}
return send_get_param_message(param_id_buff, param_index);
}
bool MavlinkParameterClient::send_get_param_message(
const std::array<char, PARAM_ID_LEN>& param_id_buff, int16_t param_index)
{
mavlink_message_t message;
if (_use_extended) {
return _sender.queue_message([&](MavlinkAddress mavlink_address, uint8_t channel) {
if (_parameter_debugging) {
LogDebug() << "Send param_ext_request_read: " << (int)mavlink_address.system_id
<< ":" << (int)mavlink_address.component_id << " to "
<< (int)_target_system_id << ":" << (int)_target_component_id;
}
mavlink_msg_param_ext_request_read_pack_chan(
mavlink_address.system_id,
mavlink_address.component_id,
channel,
&message,
_target_system_id,
_target_component_id,
param_id_buff.data(),
param_index);
return message;
});
} else {
return _sender.queue_message([&](MavlinkAddress mavlink_address, uint8_t channel) {
if (_parameter_debugging) {
LogDebug() << "Send param_request_read: " << (int)mavlink_address.system_id << ":"
<< (int)mavlink_address.component_id << " to " << (int)_target_system_id
<< ":" << (int)_target_component_id;
}
mavlink_msg_param_request_read_pack_chan(
mavlink_address.system_id,
mavlink_address.component_id,
channel,
&message,
_target_system_id,
_target_component_id,
param_id_buff.data(),
param_index);
return message;
});
}
}
bool MavlinkParameterClient::send_request_list_message()
{
if (_use_extended) {
return _sender.queue_message([&](MavlinkAddress mavlink_address, uint8_t channel) {
if (_parameter_debugging) {
LogDebug() << "Sending param_ext_request_list to:" << (int)mavlink_address.system_id
<< ":" << (int)mavlink_address.component_id;
}
mavlink_message_t message;
mavlink_msg_param_ext_request_list_pack_chan(
mavlink_address.system_id,
mavlink_address.component_id,
channel,
&message,
_target_system_id,
_target_component_id);
return message;
});
} else {
return _sender.queue_message([&](MavlinkAddress mavlink_address, uint8_t channel) {
if (_parameter_debugging) {
LogDebug() << "Sending param_request_list to:" << (int)mavlink_address.system_id
<< ":" << (int)mavlink_address.component_id;
}
mavlink_message_t message;
mavlink_msg_param_request_list_pack_chan(
mavlink_address.system_id,
mavlink_address.component_id,
channel,
&message,
_target_system_id,
_target_component_id);
return message;
});
}
}
void MavlinkParameterClient::process_param_value(const mavlink_message_t& message)
{
mavlink_param_value_t param_value;
mavlink_msg_param_value_decode(&message, ¶m_value);
const std::string safe_param_id = extract_safe_param_id(param_value.param_id);
if (safe_param_id.empty()) {
LogWarn() << "Got ill-formed param_value message (param_id empty)";
return;
}
ParamValue received_value;
const bool set_value_success = received_value.set_from_mavlink_param_value(
param_value,
(_autopilot_callback() == Autopilot::ArduPilot) ? ParamValue::Conversion::Cast :
ParamValue::Conversion::Bitwise);
if (!set_value_success) {
LogWarn() << "Got ill-formed param_ext_value message (param_type unknown)";
return;
}
if (_parameter_debugging) {
LogDebug() << "process_param_value: " << safe_param_id << " " << received_value;
}
// We need to use a unique pointer here to remove the lock from the work queue manually "early"
// before calling the (perhaps user-provided) callback. Otherwise, we might end up in a deadlock
// if the callback wants to push another work item onto the queue. By using a unique ptr there
// is no risk of forgetting to remove the lock - it is destroyed (if still valid) after going
// out of scope.
auto work_queue_guard = std::make_unique<LockedQueue<WorkItem>::Guard>(_work_queue);
const auto work = work_queue_guard->get_front();
if (!work) {
return;
}
if (!work->already_requested) {
return;
}
std::visit(
overloaded{
[&](WorkItemSet& item) {
if (item.param_name != safe_param_id) {
// No match, let's just return the borrowed work item.
return;
}
if (_parameter_debugging) {
LogDebug() << "Item value is: " << item.param_value
<< ", received: " << received_value;
}
if (item.param_value == received_value) {
// This was successful. Inform the caller.
_timeout_handler.remove(_timeout_cookie);
// LogDebug() << "time taken: " <<
// _sender.get_time().elapsed_since_s(_last_request_time);
work_queue_guard->pop_front();
if (item.callback) {
auto callback = item.callback;
work_queue_guard.reset();
callback(MavlinkParameterClient::Result::Success);
}
} else {
// We might be receiving stale param_value messages, let's just
// try again. This can happen if the timeout is chosen low and we
// get out of sync when doing a param_get just before the param_set.
// In that case we have stale param_value messages in flux and
// receive them here.
if (work->retries_to_do > 0) {
LogWarn() << "sending again, retries to do: " << work->retries_to_do
<< " (" << item.param_name << ").";
if (!send_set_param_message(item)) {
LogErr() << "connection send error in retransmit (" << item.param_name
<< ").";
work_queue_guard->pop_front();
if (item.callback) {
auto callback = item.callback;
work_queue_guard.reset();
callback(Result::ConnectionError);
}
_timeout_handler.refresh(_timeout_cookie);
} else {
--work->retries_to_do;
_timeout_handler.refresh(_timeout_cookie);
}
} else {
// We have tried retransmitting, giving up now.
LogErr() << "Error: Retrying failed set param failed: " << item.param_name;
work_queue_guard->pop_front();
if (item.callback) {
auto callback = item.callback;
work_queue_guard.reset();
callback(Result::Timeout);
}
}
}
},
[&](WorkItemGet& item) {
if (!validate_id_or_index(
item.param_identifier,
safe_param_id,
static_cast<int16_t>(param_value.param_index))) {
LogWarn() << "Got unexpected response on work item";
// No match, let's just return the borrowed work item.
return;
}
_timeout_handler.remove(_timeout_cookie);
// LogDebug() << "time taken: " <<
// _sender.get_time().elapsed_since_s(_last_request_time);
work_queue_guard->pop_front();
if (item.callback) {
auto callback = item.callback;
work_queue_guard.reset();
callback(Result::Success, received_value);
}
},
[&](WorkItemGetAll& item) {
switch (_param_cache.add_new_param(
safe_param_id, received_value, param_value.param_index)) {
case MavlinkParameterCache::AddNewParamResult::AlreadyExists:
// FALLTHROUGH
// We don't care if it already exists, just overwrite it and carry on.
// The reason is that this can likely happen if the very first
// request_list is sent twice and hence we get a bunch of duplicate
// params.
case MavlinkParameterCache::AddNewParamResult::Ok:
item.count = param_value.param_count;
if (_parameter_debugging) {
LogDebug() << "Count is now " << item.count;
}
if (_param_cache.count(_use_extended) == param_value.param_count) {
_timeout_handler.remove(_timeout_cookie);
if (_parameter_debugging) {
LogDebug() << "Param set complete: "
<< (_use_extended ? "extended" : "not extended");
}
work_queue_guard->pop_front();
if (item.callback) {
auto callback = item.callback;
work_queue_guard.reset();
callback(
Result::Success,
_param_cache.all_parameters_map(_use_extended));
}
} else {
if (_parameter_debugging) {
LogDebug() << "Count expected " << _param_cache.count(_use_extended)
<< " so far " << param_value.param_count;
}
if (item.rerequesting) {
auto maybe_next_missing_index =
_param_cache.next_missing_index(item.count);
if (!maybe_next_missing_index.has_value()) {
LogErr() << "logic error, there should a missing index";
assert(false);
}
if (_parameter_debugging) {
LogDebug() << "Requesting missing parameter "
<< (int)maybe_next_missing_index.value();
}
std::array<char, PARAM_ID_LEN> param_id_buff{};
if (!send_get_param_message(
param_id_buff, maybe_next_missing_index.value())) {
LogErr() << "Send message failed";
work_queue_guard->pop_front();
if (item.callback) {
auto callback = item.callback;
work_queue_guard.reset();
callback(Result::ConnectionError, {});
}
return;
}
} else {
// update the timeout handler, messages are still coming in.
}
_timeout_handler.refresh(&_timeout_cookie);
}
break;
case MavlinkParameterCache::AddNewParamResult::TooManyParams:
// We shouldn't be able to get here as the incoming type is only an
// uint16_t.
LogErr() << "Too many params received";
assert(false);
break;
default:
LogErr() << "Unknown AddNewParamResult";
assert(false);
break;
}
}},
work->work_item_variant);
// find_and_call_subscriptions_value_changed(safe_param_id, received_value);
}
void MavlinkParameterClient::process_param_ext_value(const mavlink_message_t& message)
{
mavlink_param_ext_value_t param_ext_value;
mavlink_msg_param_ext_value_decode(&message, ¶m_ext_value);
const auto safe_param_id = extract_safe_param_id(param_ext_value.param_id);
if (safe_param_id.empty()) {
LogWarn() << "Got ill-formed param_ext_value message (param_id empty)";
return;
}
ParamValue received_value;
if (!received_value.set_from_mavlink_param_ext_value(param_ext_value)) {
LogWarn() << "Got ill-formed param_ext_value message (param_type unknown)";
return;
}
if (_parameter_debugging) {
LogDebug() << "process param_ext_value: " << safe_param_id << " " << received_value;
}
// See comments on process_param_value for use of unique_ptr
auto work_queue_guard = std::make_unique<LockedQueue<WorkItem>::Guard>(_work_queue);
auto work = work_queue_guard->get_front();
if (!work) {
return;
}
if (!work->already_requested) {
return;
}
std::visit(
overloaded{
[&](WorkItemSet&) {
if (_parameter_debugging) {
LogDebug() << "Unexpected ParamExtValue response.";
}
},
[&](WorkItemGet& item) {
if (!validate_id_or_index(
item.param_identifier,
safe_param_id,
static_cast<int16_t>(param_ext_value.param_index))) {
LogWarn() << "Got unexpected response on work item";
// No match, let's just return the borrowed work item.
return;
}
_timeout_handler.remove(_timeout_cookie);
// LogDebug() << "time taken: " <<
// _sender.get_time().elapsed_since_s(_last_request_time);
work_queue_guard->pop_front();
if (item.callback) {
auto callback = item.callback;
work_queue_guard.reset();
callback(Result::Success, received_value);
}
},
[&](WorkItemGetAll& item) {
switch (_param_cache.add_new_param(
safe_param_id, received_value, param_ext_value.param_index)) {
case MavlinkParameterCache::AddNewParamResult::AlreadyExists:
// PASSTHROUGH.
case MavlinkParameterCache::AddNewParamResult::Ok:
item.count = param_ext_value.param_count;
if (_parameter_debugging) {
LogDebug() << "Count is now " << item.count;
}
if (_param_cache.count(_use_extended) == param_ext_value.param_count) {
_timeout_handler.remove(_timeout_cookie);
if (_parameter_debugging) {
LogDebug() << "Param set complete: "
<< (_use_extended ? "extended" : "not extended");
}
work_queue_guard->pop_front();
if (item.callback) {
auto callback = item.callback;
work_queue_guard.reset();
callback(
Result::Success,
_param_cache.all_parameters_map(_use_extended));
}
} else {
if (_parameter_debugging) {
LogDebug() << "Count expected " << _param_cache.count(_use_extended)
<< " but is " << param_ext_value.param_count;
}
// update the timeout handler, messages are still coming in.
_timeout_handler.refresh(&_timeout_cookie);
}
break;
case MavlinkParameterCache::AddNewParamResult::TooManyParams:
// We shouldn't be able to get here as the incoming type is only an
// uint16_t.
LogErr() << "Too many params received";
assert(false);
break;
default:
LogErr() << "Unknown AddNewParamResult";
assert(false);
break;
}
},
},
work->work_item_variant);
// TODO I think we need to consider more edge cases here
// find_and_call_subscriptions_value_changed(safe_param_id, received_value);
}
void MavlinkParameterClient::process_param_ext_ack(const mavlink_message_t& message)
{
mavlink_param_ext_ack_t param_ext_ack;
mavlink_msg_param_ext_ack_decode(&message, ¶m_ext_ack);
const auto safe_param_id = extract_safe_param_id(param_ext_ack.param_id);
if (_parameter_debugging) {
LogDebug() << "process param_ext_ack: " << safe_param_id << " "
<< (int)param_ext_ack.param_result;
}
// See comments on process_param_value for use of unique_ptr
auto work_queue_guard = std::make_unique<LockedQueue<WorkItem>::Guard>(_work_queue);
auto work = work_queue_guard->get_front();
if (!work) {
return;
}
if (!work->already_requested) {
return;
}
std::visit(
overloaded{
[&](WorkItemSet& item) {
if (item.param_name != safe_param_id) {
// No match, let's just return the borrowed work item.
return;
}
if (param_ext_ack.param_result == PARAM_ACK_ACCEPTED) {
_timeout_handler.remove(_timeout_cookie);
// LogDebug() << "time taken: " <<
// _sender.get_time().elapsed_since_s(_last_request_time);
work_queue_guard->pop_front();
if (item.callback) {
auto callback = item.callback;
// We are done, inform caller and go back to idle
work_queue_guard.reset();
callback(Result::Success);
}
} else if (param_ext_ack.param_result == PARAM_ACK_IN_PROGRESS) {
// Reset timeout and wait again.
_timeout_handler.refresh(_timeout_cookie);
} else {
LogWarn() << "Somehow we did not get an ack, we got: "
<< int(param_ext_ack.param_result);
_timeout_handler.remove(_timeout_cookie);
// LogDebug() << "time taken: " <<
// _sender.get_time().elapsed_since_s(_last_request_time);
work_queue_guard->pop_front();
work_queue_guard.reset();
if (item.callback) {
auto callback = item.callback;
auto result = [&]() {
switch (param_ext_ack.param_result) {
case PARAM_ACK_FAILED:
return Result::Failed;
case PARAM_ACK_VALUE_UNSUPPORTED:
return Result::ValueUnsupported;
default:
return Result::UnknownError;
}
}();
work_queue_guard.reset();
callback(result);
}
}
},