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Mission download protocol implementation #1039

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Mission download protocol implementation #1039

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ba8c24d
re-requesting waypoints in case of timeouts
Jun 21, 2020
e8bd02d
Mission download protocol fix
Jun 26, 2020
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34 changes: 32 additions & 2 deletions dronekit/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1232,13 +1232,20 @@ def listener(self, name, m):
self._wp_loaded = True
self._wp_uploaded = None
self._wpts_dirty = False
#
self._wp_downloading = False
self._wp_mission_count = False
self._wp_request_timestamp = 0.0
self._wp_timeout = 0.5
#
self._commands = CommandSequence(self)

@self.on_message(['WAYPOINT_COUNT', 'MISSION_COUNT'])
def listener(self, name, msg):
if not self._wp_loaded:
self._wploader.clear()
self._wploader.expected_count = msg.count
self._wp_mission_count = True
self._master.waypoint_request_send(0)

@self.on_message(['HOME_POSITION'])
Expand All @@ -1261,11 +1268,12 @@ def listener(self, name, msg):
pass
else:
self._wploader.add(msg)

if msg.seq + 1 < self._wploader.expected_count:
self._wp_request_timestamp = time.time()
self._master.waypoint_request_send(msg.seq + 1)
else:
self._wp_loaded = True
self._wp_downloading = False
self.notify_attribute_listeners('commands', self.commands)

# Waypoint send to master
Expand All @@ -1277,7 +1285,26 @@ def listener(self, name, msg):
self._master.mav.send(wp)
self._wp_uploaded[msg.seq] = True

# TODO: Waypoint loop listeners
@handler.forward_loop
def listener(_):
# Waypoint loop listener
dt = time.time() - self._wp_request_timestamp
if self._wp_downloading is True and dt >= self._wp_timeout:
# Initiated wp download process but timeout occured
if self._wp_mission_count is False:
# Re-request whole mission in case mission count did not arrive
self._wp_request_timestamp = time.time()
self._master.waypoint_request_list_send()
else:
# Re-request next mission item to keep up with the rest items
if not self._wploader.wpoints:
# if none of the items did not arrive
seq = 0
else:
seq = self._wploader.wpoints[-1].seq + 1

self._wp_request_timestamp = time.time()
self._master.waypoint_request_send(seq)

# Parameters.

Expand Down Expand Up @@ -2960,7 +2987,10 @@ def download(self):
self.wait_ready()
self._vehicle._ready_attrs.remove('commands')
self._vehicle._wp_loaded = False
self._vehicle._wp_mission_count = False
self._vehicle._wp_request_timestamp = time.time()
self._vehicle._master.waypoint_request_list_send()
self._vehicle._wp_downloading = True
# BIG FIXME - wait for full wpt download before allowing any of the accessors to work

def wait_ready(self, **kwargs):
Expand Down