Skip to content

Fix MSP flow, make MSP timeout dynamic #2846

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 1 commit into from
Jun 28, 2022
Merged

Fix MSP flow, make MSP timeout dynamic #2846

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
63 changes: 39 additions & 24 deletions src/js/msp.js
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -50,6 +50,10 @@ const MSP = {
packet_error: 0,
unsupported: 0,

MIN_TIMEOUT: 250,
MAX_TIMEOUT: 2000,
timeout: 250,

last_received_timestamp: null,
listeners: [],

Expand Down Expand Up @@ -318,25 +322,27 @@ const MSP = {
if (callback_msp) {
callback_msp();
}
return;
return false;
}

if (code === undefined || !serial.connectionId) {
return;
}

let bufferOut;
if (code <= 254) {
bufferOut = this.encode_message_v1(code, data);
} else {
bufferOut = this.encode_message_v2(code, data);
return false;
}

const obj = {'code': code, 'requestBuffer': bufferOut, 'callback': callback_msp ? callback_msp : false, 'timer': false, 'callbackOnError': doCallbackOnError};
const bufferOut = code <= 254 ? this.encode_message_v1(code, data) : this.encode_message_v2(code, data);
const obj = {
'code': code,
'requestBuffer': bufferOut,
'callback': callback_msp ? callback_msp : false,
'timer': false,
'callbackOnError': doCallbackOnError,
'start': performance.now(),
};

let requestExists = false;
for (const value of MSP.callbacks) {
if (value.code === code) {

for (const instance of MSP.callbacks) {
if (instance.code === code) {
// request already exist, we will just attach
requestExists = true;
break;
Expand All @@ -345,18 +351,26 @@ const MSP = {

if (!requestExists) {
obj.timer = setInterval(function () {
console.warn(`MSP: data request timed-out: ${code} ID: ${serial.connectionId} TAB: ${GUI.active_tab}`);
console.warn(`MSP: data request timed-out: ${code} ID: ${serial.connectionId} TAB: ${GUI.active_tab} TIMEOUT: ${MSP.timeout}`);
serial.send(bufferOut, function (_sendInfo) {
obj.stop = performance.now();
const executionTime = Math.round(obj.stop - obj.start);
MSP.timeout = Math.max(MSP.MIN_TIMEOUT, Math.min(executionTime, MSP.MAX_TIMEOUT));
});

serial.send(bufferOut, false);
}, 1000); // we should be able to define timeout in the future
}, MSP.timeout);
}

MSP.callbacks.push(obj);

// always send messages with data payload (even when there is a message already in the queue)
if (data || !requestExists) {
if (MSP.timeout > MSP.MIN_TIMEOUT) {
MSP.timeout--;
}

serial.send(bufferOut, function (sendInfo) {
if (sendInfo.bytesSent == bufferOut.byteLength) {
if (sendInfo.bytesSent === bufferOut.byteLength) {
if (callback_sent) {
callback_sent();
}
Expand All @@ -370,17 +384,18 @@ const MSP = {
/**
* resolves: {command: code, data: data, length: message_length}
*/
promise: function(code, data) {
const self = this;
return new Promise(function(resolve) {
self.send_message(code, data, false, function(_data) {
resolve(_data);
promise: async function(code, data) {
const self = this;

return new Promise(function(resolve) {
self.send_message(code, data, false, function(_data) {
resolve(_data);
});
});
});
},
callbacks_cleanup: function () {
for (let index = 0; index < this.callbacks.length; index++) {
clearInterval(this.callbacks[index].timer);
for (const callback of this.callbacks) {
clearInterval(callback.timer);
}

this.callbacks = [];
Expand Down
18 changes: 7 additions & 11 deletions src/js/msp/MSPHelper.js
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -147,8 +147,6 @@ MspHelper.prototype.process_data = function(dataHandler) {
FC.CONFIG.mode = data.readU32();
FC.CONFIG.profile = data.readU8();

TABS.pid_tuning.checkUpdateProfile(false);

sensor_status(FC.CONFIG.activeSensors);
break;
case MSPCodes.MSP_STATUS_EX:
Expand All @@ -173,8 +171,6 @@ MspHelper.prototype.process_data = function(dataHandler) {
FC.CONFIG.armingDisableCount = data.readU8(); // Flag count
FC.CONFIG.armingDisableFlags = data.readU32();
}

TABS.pid_tuning.checkUpdateProfile(true);
}

sensor_status(FC.CONFIG.activeSensors);
Expand Down Expand Up @@ -274,10 +270,10 @@ MspHelper.prototype.process_data = function(dataHandler) {
FC.ANALOG.mAhdrawn = data.readU16();
FC.ANALOG.rssi = data.readU16(); // 0-1023
FC.ANALOG.amperage = data.read16() / 100; // A
FC.ANALOG.last_received_timestamp = Date.now();
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_41)) {
FC.ANALOG.voltage = data.readU16() / 100;
}
FC.ANALOG.last_received_timestamp = Date.now();
break;
case MSPCodes.MSP_VOLTAGE_METERS:
FC.VOLTAGE_METERS = [];
Expand Down Expand Up @@ -727,7 +723,6 @@ MspHelper.prototype.process_data = function(dataHandler) {
}
break;
case MSPCodes.MSP_SET_MOTOR:
console.log('Motor Speeds Updated');
break;
case MSPCodes.MSP_UID:
FC.CONFIG.uid[0] = data.readU32();
Expand Down Expand Up @@ -1728,8 +1723,8 @@ MspHelper.prototype.process_data = function(dataHandler) {
if (self.mspMultipleCache.length > 0) {

const partialBuffer = [];
for (let i = 0; i < self.mspMultipleCache.length; i++) {
partialBuffer.push8(self.mspMultipleCache[i]);
for (const instance of self.mspMultipleCache) {
partialBuffer.push8(instance);
}

MSP.send_message(MSPCodes.MSP_MULTIPLE_MSP, partialBuffer, false, dataHandler.callbacks);
Expand All @@ -1746,11 +1741,12 @@ MspHelper.prototype.process_data = function(dataHandler) {
console.log(`Unknown code detected: ${code}`);
} else {
console.log(`FC reports unsupported message error: ${code}`);
}

if (code === MSPCodes.MSP_SET_REBOOT) {
TABS.onboard_logging.mscRebootFailedCallback();
}
if (code === MSPCodes.MSP_SET_REBOOT) {
TABS.onboard_logging.mscRebootFailedCallback();
}

} else {
console.warn(`code: ${code} - crc failed`);
}
Expand Down
121 changes: 49 additions & 72 deletions src/js/serial_backend.js
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -491,7 +491,7 @@ function connectCli() {
$('#tabs .tab_cli a').click();
}

function onConnect() {
async function onConnect() {
if ($('div#flashbutton a.flash_state').hasClass('active') && $('div#flashbutton a.flash').hasClass('active')) {
$('div#flashbutton a.flash_state').removeClass('active');
$('div#flashbutton a.flash').removeClass('active');
Expand Down Expand Up @@ -532,13 +532,12 @@ function onConnect() {

$('#tabs ul.mode-connected').show();

MSP.send_message(MSPCodes.MSP_FEATURE_CONFIG, false, false);
await MSP.promise(MSPCodes.MSP_FEATURE_CONFIG);
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_33)) {
MSP.send_message(MSPCodes.MSP_BATTERY_CONFIG, false, false);
await MSP.promise(MSPCodes.MSP_BATTERY_CONFIG);
}
MSP.send_message(MSPCodes.MSP_STATUS_EX, false, false);
MSP.send_message(MSPCodes.MSP_DATAFLASH_SUMMARY, false, false);

await MSP.promise(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_32) ? MSPCodes.MSP_STATUS_EX : MSPCodes.MSP_STATUS);
await MSP.promise(MSPCodes.MSP_DATAFLASH_SUMMARY);
if (FC.CONFIG.boardType == 0 || FC.CONFIG.boardType == 2) {
startLiveDataRefreshTimer();
}
Expand Down Expand Up @@ -686,10 +685,10 @@ function have_sensor(sensors_detected, sensor_code) {

function startLiveDataRefreshTimer() {
// live data refresh
GUI.timeout_add('data_refresh', function () { update_live_status(); }, 100);
GUI.timeout_add('data_refresh', update_live_status, 100);
}

function update_live_status() {
async function update_live_status() {

const statuswrapper = $('#quad-status_wrapper');

Expand All @@ -698,75 +697,54 @@ function update_live_status() {
});

if (GUI.active_tab !== 'cli' && GUI.active_tab !== 'presets') {
MSP.send_message(MSPCodes.MSP_BOXNAMES, false, false);
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_32)) {
MSP.send_message(MSPCodes.MSP_STATUS_EX, false, false);
} else {
MSP.send_message(MSPCodes.MSP_STATUS, false, false);
}
MSP.send_message(MSPCodes.MSP_ANALOG, false, false);
}
await MSP.promise(MSPCodes.MSP_BOXNAMES);
await MSP.promise(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_32) ? MSPCodes.MSP_STATUS_EX : MSPCodes.MSP_STATUS);
await MSP.promise(MSPCodes.MSP_ANALOG);

const active = ((Date.now() - FC.ANALOG.last_received_timestamp) < 300);
const active = ((Date.now() - FC.ANALOG.last_received_timestamp) < 300);

for (let i = 0; i < FC.AUX_CONFIG.length; i++) {
if (FC.AUX_CONFIG[i] === 'ARM') {
if (bit_check(FC.CONFIG.mode, i)) {
$(".armedicon").addClass('active');
} else {
$(".armedicon").removeClass('active');
for (let i = 0; i < FC.AUX_CONFIG.length; i++) {
if (FC.AUX_CONFIG[i] === 'ARM') {
$(".armedicon").toggleClass('active', bit_check(FC.CONFIG.mode, i));
}
}
if (FC.AUX_CONFIG[i] === 'FAILSAFE') {
if (bit_check(FC.CONFIG.mode, i)) {
$(".failsafeicon").addClass('active');
} else {
$(".failsafeicon").removeClass('active');
if (FC.AUX_CONFIG[i] === 'FAILSAFE') {
$(".failsafeicon").toggleClass('active', bit_check(FC.CONFIG.mode, i));
}
}
}

if (FC.ANALOG != undefined) {
let nbCells = Math.floor(FC.ANALOG.voltage / FC.BATTERY_CONFIG.vbatmaxcellvoltage) + 1;
if (FC.ANALOG != undefined) {
let nbCells = Math.floor(FC.ANALOG.voltage / FC.BATTERY_CONFIG.vbatmaxcellvoltage) + 1;

if (FC.ANALOG.voltage == 0) {
nbCells = 1;
}
if (FC.ANALOG.voltage == 0) {
nbCells = 1;
}

const min = FC.BATTERY_CONFIG.vbatmincellvoltage * nbCells;
const max = FC.BATTERY_CONFIG.vbatmaxcellvoltage * nbCells;
const warn = FC.BATTERY_CONFIG.vbatwarningcellvoltage * nbCells;

const NO_BATTERY_VOLTAGE_MAXIMUM = 1.8; // Maybe is better to add a call to MSP_BATTERY_STATE but is not available for all versions

if (FC.ANALOG.voltage < min && FC.ANALOG.voltage > NO_BATTERY_VOLTAGE_MAXIMUM) {
$(".battery-status").addClass('state-empty').removeClass('state-ok').removeClass('state-warning');
$(".battery-status").css({
width: "100%",
});
} else {
$(".battery-status").css({
width: `${((FC.ANALOG.voltage - min) / (max - min) * 100)}%`,
});

if (FC.ANALOG.voltage < warn) {
$(".battery-status").addClass('state-warning').removeClass('state-empty').removeClass('state-ok');
} else {
$(".battery-status").addClass('state-ok').removeClass('state-warning').removeClass('state-empty');
}
}
const min = FC.BATTERY_CONFIG.vbatmincellvoltage * nbCells;
const max = FC.BATTERY_CONFIG.vbatmaxcellvoltage * nbCells;
const warn = FC.BATTERY_CONFIG.vbatwarningcellvoltage * nbCells;

}
const NO_BATTERY_VOLTAGE_MAXIMUM = 1.8; // Maybe is better to add a call to MSP_BATTERY_STATE but is not available for all versions

if (active) {
$(".linkicon").addClass('active');
} else {
$(".linkicon").removeClass('active');
}
if (FC.ANALOG.voltage < min && FC.ANALOG.voltage > NO_BATTERY_VOLTAGE_MAXIMUM) {
$(".battery-status").addClass('state-empty').removeClass('state-ok').removeClass('state-warning');
$(".battery-status").css({ width: "100%" });
} else {
$(".battery-status").css({ width: `${((FC.ANALOG.voltage - min) / (max - min) * 100)}%` });

statuswrapper.show();
GUI.timeout_remove('data_refresh');
startLiveDataRefreshTimer();
if (FC.ANALOG.voltage < warn) {
$(".battery-status").addClass('state-warning').removeClass('state-empty').removeClass('state-ok');
} else {
$(".battery-status").addClass('state-ok').removeClass('state-warning').removeClass('state-empty');
}
}
}

$(".linkicon").toggleClass('active', active);

statuswrapper.show();
GUI.timeout_remove('data_refresh');
startLiveDataRefreshTimer();
}
}

function specificByte(num, pos) {
Expand Down Expand Up @@ -846,15 +824,14 @@ function reinitializeConnection(originatorTab, callback) {
let attempts = 0;
const reconnect = setInterval(waitforSerial, 100);

function waitforSerial() {
async function waitforSerial() {
if (connectionTimestamp !== previousTimeStamp && CONFIGURATOR.connectionValid) {
console.log(`Serial connection available after ${attempts / 10} seconds`);
clearInterval(reconnect);
MSP.promise(MSPCodes.MSP_STATUS).then(() => {
GUI.log(i18n.getMessage('deviceReady'));
originatorTab.initialize(false, $('#content').scrollTop());
callback?.();
});
await MSP.promise(MSPCodes.MSP_STATUS);
GUI.log(i18n.getMessage('deviceReady'));
originatorTab.initialize(false, $('#content').scrollTop());
callback?.();
} else {
attempts++;
if (attempts > 100) {
Expand Down
8 changes: 5 additions & 3 deletions src/js/tabs/motors.js
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -585,9 +585,11 @@ TABS.motors.initialize = async function (callback) {

// Amperage
function power_data_pull() {
motorVoltage.text(i18n.getMessage('motorsVoltageValue', [FC.ANALOG.voltage]));
motorMahDrawingElement.text(i18n.getMessage('motorsADrawingValue', [FC.ANALOG.amperage.toFixed(2)]));
motorMahDrawnElement.text(i18n.getMessage('motorsmAhDrawnValue', [FC.ANALOG.mAhdrawn]));
if (FC.ANALOG.last_received_timestamp) {
motorVoltage.text(i18n.getMessage('motorsVoltageValue', [FC.ANALOG.voltage]));
motorMahDrawingElement.text(i18n.getMessage('motorsADrawingValue', [FC.ANALOG.amperage.toFixed(2)]));
motorMahDrawnElement.text(i18n.getMessage('motorsmAhDrawnValue', [FC.ANALOG.mAhdrawn]));
}
}

GUI.interval_add('motors_power_data_pull_slow', power_data_pull, 250, true); // 4 fps
Expand Down
1 change: 1 addition & 0 deletions src/js/tabs/pid_tuning.js
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1436,6 +1436,7 @@ TABS.pid_tuning.initialize = function (callback) {
function process_html() {
TABS.pid_tuning.isHtmlProcessing = true;
FC.FEATURE_CONFIG.features.generateElements($('.tab-pid_tuning .features'));
self.checkUpdateProfile(false);

if (semver.lt(FC.CONFIG.apiVersion, "1.16.0") || semver.gte(FC.CONFIG.apiVersion, "1.20.0")) {
$('.tab-pid_tuning .pidTuningSuperexpoRates').hide();
Expand Down