devicemanager: Add max number of fails in communication and device se…

…rial filter Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
bluerobotics · Feb 21, 2020 · 5c0eeaa · 5c0eeaa
1 parent 9c1bceb
commit 5c0eeaa
Show file tree

Hide file tree

Showing 2 changed files with 43 additions and 2 deletions.
diff --git a/src/devicemanager/devicemanager.cpp b/src/devicemanager/devicemanager.cpp
@@ -50,6 +50,7 @@ void DeviceManager::append(const LinkConfiguration& linkConf, const QString& dev
     _sensors[Connected].append(false);
     _sensors[DetectorName].append(detectorName);
     _sensors[Name].append(deviceName);
+    _sensors[UnavailableCounter].append(0);
 
     const auto& indexRow = index(line);
     endInsertRows();
@@ -151,19 +152,57 @@ void DeviceManager::updateAvailableConnections(
     const QVector<LinkConfiguration>& availableLinkConfigurations, const QString& detector)
 {
     qCDebug(DEVICEMANAGER) << "Available devices:" << availableLinkConfigurations;
-    // Make all connections unavailable by default
+
     for (int i {0}; i < _sensors[Available].size(); i++) {
         const auto linkConf = _sensors[Connection][i].value<QSharedPointer<LinkConfiguration>>();
         if (linkConf->isSimulation() || _sensors[DetectorName][i] != detector) {
             continue;
         }
+
+        // Make all connections unavailable by default
         _sensors[Available][i] = false;
         const auto indexRow = index(i);
         emit dataChanged(indexRow, indexRow, _roles);
     }
 
+    // Check if the configuration already exists for a sensor
+    // Serial ports does not support multiple devices connected
+    // Some sensors, like Ping1D, can fail to answer a ABR procedure
     for (const auto& link : availableLinkConfigurations) {
-        append(link, PingHelper::nameFromDeviceType(link.deviceType()), detector);
+        const bool sameSerialDevice = std::any_of(
+            _sensors[Connection].cbegin(), _sensors[Connection].cend(), [&link](const QVariant& variantLink) {
+                const auto sensorLink = variantLink.value<QSharedPointer<LinkConfiguration>>().get();
+                qCDebug(DEVICEMANAGER) << "Device" << sensorLink
+                                       << "already already provided by a different connection:" << link;
+                return link.serialPort() == sensorLink->serialPort() && link != *sensorLink;
+            });
+
+        if (!sameSerialDevice) {
+            append(link, PingHelper::nameFromDeviceType(link.deviceType()), detector);
+        }
+    }
+
+    // We'll let the link to fail the communication attempt "a max number of fails" before making it unavailable
+    // This is necessary to avoid any problem related to automatic baud rates problem from the sensor side.
+    static const int maxNumberOfFails = 3;
+    for (int i {0}; i < _sensors[Available].size(); i++) {
+        const auto linkConf = _sensors[Connection][i].value<QSharedPointer<LinkConfiguration>>();
+        if (linkConf->isSimulation()) {
+            continue;
+        }
+
+        const auto indexRow = index(i);
+
+        // The sensor was detected, we can remove unavailable counter
+        if (_sensors[Available][i].toBool()) {
+            _sensors[UnavailableCounter][i] = 0;
+            emit dataChanged(indexRow, indexRow, _roles);
+            continue;
+        }
+        _sensors[Available][i] = _sensors[UnavailableCounter][i].toInt() < maxNumberOfFails;
+        _sensors[UnavailableCounter][i] = _sensors[UnavailableCounter][i].toInt() + 1;
+
+        emit dataChanged(indexRow, indexRow, _roles);
     }
 }
 

diff --git a/src/devicemanager/devicemanager.h b/src/devicemanager/devicemanager.h
@@ -179,13 +179,15 @@ class DeviceManager : public QAbstractListModel {
         Connection,
         Name,
         DetectorName,
+        UnavailableCounter,
     };
     QHash<int, QByteArray> _roleNames {
         {Available, "available"},
         {Connected, "connected"},
         {Connection, "connection"},
         {Name, "name"},
         {DetectorName, "detectorName"},
+        {UnavailableCounter, "unavailableCounter"},
     };
 
     QSharedPointer<Sensor> _primarySensor;