void UAVObjectUtilManager::saveNextObject()
{
if (queue.isEmpty()) {
return;
}
Q_ASSERT(saveState == IDLE);
// Get next object from the queue
UAVObject *obj = queue.head();
qDebug() << "Send save object request to board " << obj->getName();
ObjectPersistence *objper = dynamic_cast<ObjectPersistence *>(getObjectManager()->getObject(ObjectPersistence::NAME));
connect(objper, SIGNAL(transactionCompleted(UAVObject *, bool)), this, SLOT(objectPersistenceTransactionCompleted(UAVObject *, bool)));
connect(objper, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(objectPersistenceUpdated(UAVObject *)));
saveState = AWAITING_ACK;
if (obj != NULL) {
ObjectPersistence::DataFields data;
data.Operation = ObjectPersistence::OPERATION_SAVE;
data.Selection = ObjectPersistence::SELECTION_SINGLEOBJECT;
data.ObjectID = obj->getObjID();
data.InstanceID = obj->getInstID();
objper->setData(data);
objper->updated();
}
// Now: we are going to get two "objectUpdated" messages (one coming from GCS, one coming from Flight, which
// will confirm the object was properly received by both sides) and then one "transactionCompleted" indicating
// that the Flight side did not only receive the object but it did receive it without error. Last we will get
// a last "objectUpdated" message coming from flight side, where we'll get the results of the objectPersistence
// operation we asked for (saved, other).
}
void ConfigStabilizationWidget::restoreStabBank(int bank)
{
UAVObject *stabBankObject = getStabBankObject(bank);
if (stabBankObject) {
ObjectPersistence *objectPersistenceObject = ObjectPersistence::GetInstance(getObjectManager());
QTimer updateTimer(this);
QEventLoop eventLoop(this);
connect(&updateTimer, SIGNAL(timeout()), &eventLoop, SLOT(quit()));
connect(objectPersistenceObject, SIGNAL(objectUpdated(UAVObject *)), &eventLoop, SLOT(quit()));
ObjectPersistence::DataFields data;
data.Operation = ObjectPersistence::OPERATION_LOAD;
data.Selection = ObjectPersistence::SELECTION_SINGLEOBJECT;
data.ObjectID = stabBankObject->getObjID();
data.InstanceID = stabBankObject->getInstID();
objectPersistenceObject->setData(data);
objectPersistenceObject->updated();
updateTimer.start(500);
eventLoop.exec();
if (updateTimer.isActive()) {
stabBankObject->requestUpdate();
}
updateTimer.stop();
}
}
/**
* @brief UAVObjectUtilManager::saveNextObject
*
* Processes the save queue.
*/
void UAVObjectUtilManager::saveNextObject()
{
if ( queue.isEmpty() ) {
return;
}
Q_ASSERT(saveState == IDLE);
// Get next object from the queue (don't dequeue yet)
UAVObject* obj = queue.head();
Q_ASSERT(obj);
qDebug() << "Send save object request to board " << obj->getName();
ObjectPersistence * objectPersistence = ObjectPersistence::GetInstance(getObjectManager());
Q_ASSERT(objectPersistence);
// "transactionCompleted" is emitted once the objectPersistence object is sent over the telemetry link.
// Since its metadata state that it should be ACK'ed on flight telemetry, the transactionCompleted signal
// will be triggered once the GCS telemetry manager receives an ACK from the flight controller, or times
// out. the success value will reflect success or failure.
connect(objectPersistence, SIGNAL(transactionCompleted(UAVObject*,bool)), this, SLOT(objectPersistenceTransactionCompleted(UAVObject*,bool)));
// After we update the objectPersistence UAVO, we need to listen to its "objectUpdated" event, which will occur
// once the flight controller sends this object back to the GCS, with the "Operation" field set to "Completed"
// or "Error".
connect(objectPersistence, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(objectPersistenceUpdated(UAVObject *)));
saveState = AWAITING_ACK;
qDebug() << "[saveObjectToFlash] Moving on to AWAITING_ACK";
ObjectPersistence::DataFields data;
data.Operation = ObjectPersistence::OPERATION_SAVE;
data.Selection = ObjectPersistence::SELECTION_SINGLEOBJECT;
data.ObjectID = obj->getObjID();
data.InstanceID = obj->getInstID();
objectPersistence->setData(data);
objectPersistence->updated();
// Now: we are going to get the following:
// - two "objectUpdated" messages (one coming from GCS, one coming from Flight, which will confirm the object
// was properly received by both sides). This is because the metadata of objectPersistence has "FlightUpdateOnChange"
// set to true.
// - then one "transactionCompleted" indicating that the Flight side did not only receive the object but it did
// receive it without error (that message will be triggered by reception of the ACK).
// - Last we will get one last "objectUpdated" message coming from flight side, where we'll get the results of
// the objectPersistence operation we asked for (saved, other).
}
