More command result options

src/mavsdk/core/mavlink_command_sender.cpp

@@ -79,13 +79,11 @@ void MavlinkCommandSender::queue_command_async(
     CommandIdentification identification = identification_from_command(command);
 
     for (const auto& work : _work_queue) {
-        if (work->identification == identification) {
+        if (work->identification == identification && callback == nullptr) {
             if (_command_debugging) {
                 LogDebug() << "Dropping command " << static_cast<int>(identification.command)
                            << " that is already being sent";
             }
-            auto temp_callback = callback;
-            call_callback(temp_callback, Result::CommandDenied, NAN);
             return;
         }
     }
@@ -115,7 +113,7 @@ void MavlinkCommandSender::queue_command_async(
                            << " that is already being sent";
             }
             auto temp_callback = callback;
-            call_callback(temp_callback, Result::CommandDenied, NAN);
+            call_callback(temp_callback, Result::Denied, NAN);
             return;
         }
     }
@@ -194,35 +192,44 @@ void MavlinkCommandSender::receive_command_ack(mavlink_message_t message)
             case MAV_RESULT_DENIED:
                 LogWarn() << "command denied (" << work->identification.command << ").";
                 _parent.unregister_timeout_handler(work->timeout_cookie);
-                temp_result = {Result::CommandDenied, NAN};
+                temp_result = {Result::Denied, NAN};
                 _work_queue.erase(it);
                 break;
 
             case MAV_RESULT_UNSUPPORTED:
-                LogWarn() << "command unsupported (" << work->identification.command << ").";
+                if (_command_debugging) {
+                    LogDebug() << "command unsupported (" << work->identification.command << ").";
+                }
                 _parent.unregister_timeout_handler(work->timeout_cookie);
                 temp_result = {Result::Unsupported, NAN};
                 _work_queue.erase(it);
                 break;
 
             case MAV_RESULT_TEMPORARILY_REJECTED:
-                LogWarn() << "command temporarily rejected (" << work->identification.command
-                          << ").";
+                if (_command_debugging) {
+                    LogDebug() << "command temporarily rejected (" << work->identification.command
+                               << ").";
+                }
                 _parent.unregister_timeout_handler(work->timeout_cookie);
-                temp_result = {Result::CommandDenied, NAN};
+                temp_result = {Result::TemporarilyRejected, NAN};
                 _work_queue.erase(it);
                 break;
 
             case MAV_RESULT_FAILED:
+                if (_command_debugging) {
+                    LogDebug() << "command failed (" << work->identification.command << ").";
+                }
                 _parent.unregister_timeout_handler(work->timeout_cookie);
-                temp_result = {Result::CommandDenied, NAN};
+                temp_result = {Result::Failed, NAN};
                 _work_queue.erase(it);
                 break;
 
             case MAV_RESULT_IN_PROGRESS:
-                if (static_cast<int>(command_ack.progress) != 255) {
-                    LogInfo() << "progress: " << static_cast<int>(command_ack.progress) << " % ("
-                              << work->identification.command << ").";
+                if (_command_debugging) {
+                    if (static_cast<int>(command_ack.progress) != 255) {
+                        LogDebug() << "progress: " << static_cast<int>(command_ack.progress)
+                                   << " % (" << work->identification.command << ").";
+                    }
                 }
                 // If we get a progress update, we can raise the timeout
                 // to something higher because we know the initial command
@@ -241,6 +248,15 @@ void MavlinkCommandSender::receive_command_ack(mavlink_message_t message)
                     Result::InProgress, static_cast<float>(command_ack.progress) / 100.0f};
                 break;
 
+            case MAV_RESULT_CANCELLED:
+                if (_command_debugging) {
+                    LogDebug() << "command cancelled (" << work->identification.command << ").";
+                }
+                _parent.unregister_timeout_handler(work->timeout_cookie);
+                temp_result = {Result::Cancelled, NAN};
+                _work_queue.erase(it);
+                break;
+
             default:
                 LogWarn() << "Received unknown ack.";
                 break;

src/mavsdk/core/mavlink_command_sender.h

@@ -26,10 +26,13 @@ class MavlinkCommandSender {
         NoSystem,
         ConnectionError,
         Busy,
-        CommandDenied,
+        Denied,
         Unsupported,
         Timeout,
         InProgress,
+        TemporarilyRejected,
+        Failed,
+        Cancelled,
         UnknownError
     };
 

src/mavsdk/core/request_message.cpp

@@ -122,15 +122,21 @@ void RequestMessage::handle_command_result(uint32_t message_id, MavlinkCommandSe
                 // FALLTHROUGH
             case MavlinkCommandSender::Result::ConnectionError:
                 // FALLTHROUGH
-            case MavlinkCommandSender::Result::UnknownError:
+            case MavlinkCommandSender::Result::Busy:
+                // FALLTHROUGH
+            case MavlinkCommandSender::Result::Denied:
                 // FALLTHROUGH
             case MavlinkCommandSender::Result::Unsupported:
                 // FALLTHROUGH
             case MavlinkCommandSender::Result::Timeout:
                 // FALLTHROUGH
-            case MavlinkCommandSender::Result::Busy:
+            case MavlinkCommandSender::Result::TemporarilyRejected:
+                // FALLTHROUGH
+            case MavlinkCommandSender::Result::Failed:
+                // FALLTHROUGH
+            case MavlinkCommandSender::Result::Cancelled:
                 // FALLTHROUGH
-            case MavlinkCommandSender::Result::CommandDenied: {
+            case MavlinkCommandSender::Result::UnknownError: {
                 // It looks like this did not work, and we can report the error
                 // No need to try again.
                 auto temp_callback = it->callback;

src/mavsdk/plugins/action/action.cpp

@@ -295,6 +295,8 @@ std::ostream& operator<<(std::ostream& str, Action::Result const& result)
             return str << "Parameter Error";
         case Action::Result::Unsupported:
             return str << "Unsupported";
+        case Action::Result::Failed:
+            return str << "Failed";
         default:
             return str << "Unknown";
     }

src/mavsdk/plugins/action/action_impl.cpp

@@ -683,8 +683,12 @@ Action::Result ActionImpl::action_result_from_command_result(MavlinkCommandSende
             return Action::Result::ConnectionError;
         case MavlinkCommandSender::Result::Busy:
             return Action::Result::Busy;
-        case MavlinkCommandSender::Result::CommandDenied:
+        case MavlinkCommandSender::Result::Denied:
+            // Fallthrough
+        case MavlinkCommandSender::Result::TemporarilyRejected:
             return Action::Result::CommandDenied;
+        case MavlinkCommandSender::Result::Failed:
+            return Action::Result::Failed;
         case MavlinkCommandSender::Result::Timeout:
             return Action::Result::Timeout;
         case MavlinkCommandSender::Result::Unsupported:

src/mavsdk/plugins/action/include/plugins/action/action.h

@@ -94,6 +94,7 @@ class Action : public PluginBase {
         NoVtolTransitionSupport, /**< @brief Vehicle does not support hybrid/VTOL transitions. */
         ParameterError, /**< @brief Error getting or setting parameter. */
         Unsupported, /**< @brief Action not supported. */
+        Failed, /**< @brief Action failed. */
     };
 
     /**

src/mavsdk/plugins/calibration/calibration_impl.cpp

@@ -297,13 +297,19 @@ void CalibrationImpl::command_result_callback(
             // FALLTHROUGH
         case MavlinkCommandSender::Result::Busy:
             // FALLTHROUGH
-        case MavlinkCommandSender::Result::CommandDenied:
+        case MavlinkCommandSender::Result::Denied:
             // FALLTHROUGH
         case MavlinkCommandSender::Result::Unsupported:
             // FALLTHROUGH
-        case MavlinkCommandSender::Result::UnknownError:
+        case MavlinkCommandSender::Result::Timeout:
+            // FALLTHROUGH
+        case MavlinkCommandSender::Result::TemporarilyRejected:
+            // FALLTHROUGH
+        case MavlinkCommandSender::Result::Failed:
+            // FALLTHROUGH
+        case MavlinkCommandSender::Result::Cancelled:
             // FALLTHROUGH
-        case MavlinkCommandSender::Result::Timeout: {
+        case MavlinkCommandSender::Result::UnknownError: {
             // Report all error cases.
             const auto timeout_result = calibration_result_from_command_result(command_result);
             call_callback(_calibration_callback, timeout_result, Calibration::ProgressData());
@@ -336,8 +342,14 @@ CalibrationImpl::calibration_result_from_command_result(MavlinkCommandSender::Re
             return Calibration::Result::ConnectionError;
         case MavlinkCommandSender::Result::Busy:
             return Calibration::Result::Busy;
-        case MavlinkCommandSender::Result::CommandDenied:
+        case MavlinkCommandSender::Result::Denied:
+            // Fallthrough
+        case MavlinkCommandSender::Result::TemporarilyRejected:
             return Calibration::Result::CommandDenied;
+        case MavlinkCommandSender::Result::Failed:
+            return Calibration::Result::Failed;
+        case MavlinkCommandSender::Result::Cancelled:
+            return Calibration::Result::Cancelled;
         case MavlinkCommandSender::Result::Timeout:
             return Calibration::Result::Timeout;
         case MavlinkCommandSender::Result::InProgress:

src/mavsdk/plugins/camera/camera_impl.cpp

@@ -670,12 +670,14 @@ CameraImpl::camera_result_from_command_result(const MavlinkCommandSender::Result
         case MavlinkCommandSender::Result::Success:
             return Camera::Result::Success;
         case MavlinkCommandSender::Result::NoSystem:
-        // FALLTHROUGH
+            // FALLTHROUGH
         case MavlinkCommandSender::Result::ConnectionError:
-        // FALLTHROUGH
+            // FALLTHROUGH
         case MavlinkCommandSender::Result::Busy:
             return Camera::Result::Error;
-        case MavlinkCommandSender::Result::CommandDenied:
+        case MavlinkCommandSender::Result::Denied:
+            // FALLTHROUGH
+        case MavlinkCommandSender::Result::TemporarilyRejected:
             return Camera::Result::Denied;
         case MavlinkCommandSender::Result::Timeout:
             return Camera::Result::Timeout;

src/mavsdk/plugins/failure/failure_impl.cpp

@@ -156,7 +156,9 @@ FailureImpl::failure_result_from_command_result(MavlinkCommandSender::Result com
             return Failure::Result::NoSystem;
         case MavlinkCommandSender::Result::ConnectionError:
             return Failure::Result::ConnectionError;
-        case MavlinkCommandSender::Result::CommandDenied:
+        case MavlinkCommandSender::Result::Denied:
+            // Fallthrough
+        case MavlinkCommandSender::Result::TemporarilyRejected:
             return Failure::Result::Denied;
         case MavlinkCommandSender::Result::Unsupported:
             return Failure::Result::Unsupported;

src/mavsdk/plugins/follow_me/follow_me_impl.cpp

@@ -245,7 +245,9 @@ FollowMe::Result FollowMeImpl::to_follow_me_result(MavlinkCommandSender::Result
             return FollowMe::Result::ConnectionError;
         case MavlinkCommandSender::Result::Busy:
             return FollowMe::Result::Busy;
-        case MavlinkCommandSender::Result::CommandDenied:
+        case MavlinkCommandSender::Result::Denied:
+            // Fallthrough
+        case MavlinkCommandSender::Result::TemporarilyRejected:
             return FollowMe::Result::CommandDenied;
         case MavlinkCommandSender::Result::Timeout:
             return FollowMe::Result::Timeout;

src/mavsdk/plugins/gimbal/gimbal_impl.cpp

@@ -202,7 +202,8 @@ GimbalImpl::gimbal_result_from_command_result(MavlinkCommandSender::Result comma
         case MavlinkCommandSender::Result::NoSystem:
         case MavlinkCommandSender::Result::ConnectionError:
         case MavlinkCommandSender::Result::Busy:
-        case MavlinkCommandSender::Result::CommandDenied:
+        case MavlinkCommandSender::Result::Denied:
+        case MavlinkCommandSender::Result::TemporarilyRejected:
         default:
             return Gimbal::Result::Error;
     }

src/mavsdk/plugins/manual_control/manual_control_impl.cpp

@@ -136,7 +136,9 @@ ManualControlImpl::manual_control_result_from_command_result(MavlinkCommandSende
             return ManualControl::Result::ConnectionError;
         case MavlinkCommandSender::Result::Busy:
             return ManualControl::Result::Busy;
-        case MavlinkCommandSender::Result::CommandDenied:
+        case MavlinkCommandSender::Result::Denied:
+            // FALLTHROUGH
+        case MavlinkCommandSender::Result::TemporarilyRejected:
             return ManualControl::Result::CommandDenied;
         case MavlinkCommandSender::Result::Timeout:
             return ManualControl::Result::Timeout;

src/mavsdk/plugins/mavlink_passthrough/include/plugins/mavlink_passthrough/mavlink_passthrough.h

@@ -65,6 +65,8 @@ class MavlinkPassthrough : public PluginBase {
         CommandDenied, /**< @brief Command has been denied. */
         CommandUnsupported, /**< @brief Command is not supported. */
         CommandTimeout, /**< @brief A timeout happened. */
+        CommandTemporarilyRejected, /**< @brief Command has been rejected for now. */
+        CommandFailed, /**< @brief Command has failed. */
     };
 
     /**

src/mavsdk/plugins/mavlink_passthrough/mavlink_passthrough_impl.cpp

@@ -93,10 +93,14 @@ MavlinkPassthroughImpl::to_mavlink_passthrough_result_from_mavlink_commands_resu
             return MavlinkPassthrough::Result::ConnectionError;
         case MavlinkCommandSender::Result::Busy:
             return MavlinkPassthrough::Result::CommandBusy;
-        case MavlinkCommandSender::Result::CommandDenied:
+        case MavlinkCommandSender::Result::Denied:
             return MavlinkPassthrough::Result::CommandDenied;
+        case MavlinkCommandSender::Result::TemporarilyRejected:
+            return MavlinkPassthrough::Result::CommandTemporarilyRejected;
         case MavlinkCommandSender::Result::Unsupported:
             return MavlinkPassthrough::Result::CommandUnsupported;
+        case MavlinkCommandSender::Result::Failed:
+            return MavlinkPassthrough::Result::CommandFailed;
         case MavlinkCommandSender::Result::Timeout:
             return MavlinkPassthrough::Result::CommandTimeout;
         default:

src/mavsdk/plugins/mission/include/plugins/mission/mission.h

@@ -186,6 +186,7 @@ class Mission : public PluginBase {
         TransferCancelled, /**< @brief Mission transfer (upload or download) has been cancelled. */
         NoSystem, /**< @brief No system connected. */
         Next, /**< @brief Intermediate message showing progress. */
+        Denied, /**< @brief Request denied. */
     };
 
     /**

src/mavsdk/plugins/mission/mission.cpp

@@ -265,6 +265,8 @@ std::ostream& operator<<(std::ostream& str, Mission::Result const& result)
             return str << "No System";
         case Mission::Result::Next:
             return str << "Next";
+        case Mission::Result::Denied:
+            return str << "Denied";
         default:
             return str << "Unknown";
     }

src/mavsdk/plugins/mission/mission_impl.cpp

@@ -806,17 +806,19 @@ Mission::Result MissionImpl::command_result_to_mission_result(MavlinkCommandSend
         case MavlinkCommandSender::Result::Success:
             return Mission::Result::Success;
         case MavlinkCommandSender::Result::NoSystem:
-            return Mission::Result::Error; // FIXME
+            return Mission::Result::NoSystem;
         case MavlinkCommandSender::Result::ConnectionError:
-            return Mission::Result::Error; // FIXME
+            return Mission::Result::Error;
         case MavlinkCommandSender::Result::Busy:
             return Mission::Result::Busy;
-        case MavlinkCommandSender::Result::CommandDenied:
-            return Mission::Result::Error; // FIXME
+        case MavlinkCommandSender::Result::TemporarilyRejected:
+            // FALLTHROUGH
+        case MavlinkCommandSender::Result::Denied:
+            return Mission::Result::Denied;
         case MavlinkCommandSender::Result::Timeout:
             return Mission::Result::Timeout;
         case MavlinkCommandSender::Result::InProgress:
-            return Mission::Result::Busy; // FIXME
+            return Mission::Result::Busy;
         case MavlinkCommandSender::Result::UnknownError:
             return Mission::Result::Unknown;
         default:

src/mavsdk/plugins/mission_raw/include/plugins/mission_raw/mission_raw.h

@@ -159,6 +159,7 @@ class MissionRaw : public PluginBase {
         FailedToOpenQgcPlan, /**< @brief Failed to open the QGroundControl plan. */
         FailedToParseQgcPlan, /**< @brief Failed to parse the QGroundControl plan. */
         NoSystem, /**< @brief No system connected. */
+        Denied, /**< @brief Request denied. */
     };
 
     /**

src/mavsdk/plugins/mission_raw/mission_raw.cpp

@@ -232,6 +232,8 @@ std::ostream& operator<<(std::ostream& str, MissionRaw::Result const& result)
             return str << "Failed To Parse Qgc Plan";
         case MissionRaw::Result::NoSystem:
             return str << "No System";
+        case MissionRaw::Result::Denied:
+            return str << "Denied";
         default:
             return str << "Unknown";
     }

src/mavsdk/plugins/mission_raw/mission_raw_impl.cpp

@@ -345,17 +345,19 @@ MissionRawImpl::command_result_to_mission_result(MavlinkCommandSender::Result re
         case MavlinkCommandSender::Result::Success:
             return MissionRaw::Result::Success;
         case MavlinkCommandSender::Result::NoSystem:
-            return MissionRaw::Result::Error; // FIXME
+            return MissionRaw::Result::NoSystem;
         case MavlinkCommandSender::Result::ConnectionError:
-            return MissionRaw::Result::Error; // FIXME
+            return MissionRaw::Result::Error;
         case MavlinkCommandSender::Result::Busy:
             return MissionRaw::Result::Busy;
-        case MavlinkCommandSender::Result::CommandDenied:
-            return MissionRaw::Result::Error; // FIXME
+        case MavlinkCommandSender::Result::Denied:
+            // FALLTHROUGH
+        case MavlinkCommandSender::Result::TemporarilyRejected:
+            return MissionRaw::Result::Denied;
         case MavlinkCommandSender::Result::Timeout:
             return MissionRaw::Result::Timeout;
         case MavlinkCommandSender::Result::InProgress:
-            return MissionRaw::Result::Busy; // FIXME
+            return MissionRaw::Result::Busy;
         case MavlinkCommandSender::Result::UnknownError:
             return MissionRaw::Result::Unknown;
         default:

src/mavsdk/plugins/offboard/include/plugins/offboard/offboard.h

@@ -341,6 +341,7 @@ class Offboard : public PluginBase {
         CommandDenied, /**< @brief Command denied. */
         Timeout, /**< @brief Request timed out. */
         NoSetpointSet, /**< @brief Cannot start without setpoint set. */
+        Failed, /**< @brief Request failed. */
     };
 
     /**

src/mavsdk/plugins/offboard/offboard.cpp

@@ -331,6 +331,8 @@ std::ostream& operator<<(std::ostream& str, Offboard::Result const& result)
             return str << "Timeout";
         case Offboard::Result::NoSetpointSet:
             return str << "No Setpoint Set";
+        case Offboard::Result::Failed:
+            return str << "Failed";
         default:
             return str << "Unknown";
     }