Skip to content

AP_DDS: Add topic retries #31599

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

Open
stephendade wants to merge 1 commit into
base: master
Choose a base branch
from
+32 −3
Open

AP_DDS: Add topic retries #31599

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
35 changes: 32 additions & 3 deletions libraries/AP_DDS/AP_DDS_Client.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1325,10 +1325,15 @@ bool AP_DDS_Client::init_transport()
bool initTransportStatus = ddsSerialInit();
is_using_serial = initTransportStatus;

if (is_using_serial) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Using Serial", msg_prefix);
}

#if AP_DDS_UDP_ENABLED
// fallback to UDP if available
if (!initTransportStatus) {
initTransportStatus = ddsUdpInit();
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Using UDP", msg_prefix);
}
#endif

Expand Down Expand Up @@ -1431,7 +1436,15 @@ bool AP_DDS_Client::create()
requests[1] = pub_req_id;
requests[2] = dwriter_req_id;

if (!uxr_run_session_until_all_status(&session, requestTimeoutMs, requests, status, nRequests)) {
bool success = false;
for (uint8_t retry = 0; retry < 3; retry++) {
success = uxr_run_session_until_all_status(&session, requestTimeoutMs * (retry + 1), requests, status, nRequests);
if (success) {
break;
}
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "%s Topic/Pub/Writer session request retry for index '%u'", msg_prefix, i);
}
if (!success) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s Topic/Pub/Writer session request failure for index '%u'", msg_prefix, i);
for (uint8_t s = 0 ; s < nRequests; s++) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s Status '%d' result '%u'", msg_prefix, s, status[s]);
Expand Down Expand Up @@ -1459,7 +1472,15 @@ bool AP_DDS_Client::create()
requests[1] = sub_req_id;
requests[2] = dreader_req_id;

if (!uxr_run_session_until_all_status(&session, requestTimeoutMs, requests, status, nRequests)) {
bool success = false;
for (uint8_t retry = 0; retry < 3; retry++) {
success = uxr_run_session_until_all_status(&session, requestTimeoutMs * (retry + 1), requests, status, nRequests);
if (success) {
break;
}
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "%s Topic/Sub/Reader session request retry for index '%u'", msg_prefix, i);
}
if (!success) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s Topic/Sub/Reader session request failure for index '%u'", msg_prefix, i);
for (uint8_t s = 0 ; s < nRequests; s++) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s Status '%d' result '%u'", msg_prefix, s, status[s]);
Expand Down Expand Up @@ -1491,7 +1512,15 @@ bool AP_DDS_Client::create()
uint16_t request = replier_req_id;
uint8_t status;

if (!uxr_run_session_until_all_status(&session, requestTimeoutMs, &request, &status, 1)) {
bool success = false;
for (uint8_t retry = 0; retry < 3; retry++) {
success = uxr_run_session_until_all_status(&session, requestTimeoutMs * (retry + 1), &request, &status, 1);
if (success) {
break;
}
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "%s Service/Replier session request retry for index '%u'", msg_prefix, i);
}
if (!success) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s Service/Replier session request failure for index '%u'", msg_prefix, i);
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s Status result '%u'", msg_prefix, status);
// TODO add a failure log message sharing the status results
Expand Down
Loading