使用mop方式实现osdk和msdk的通信，在osdk侧，用MopPipeline的recvData接收msdk侧发...

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DJI Developer Support

2022年03月21日 06:00

使用mop方式实现osdk和msdk的通信，在osdk侧，用MopPipeline的recvData接收msdk侧发过来的消息，第一次接收一切正常，但是后面频繁返回MOP_TIMEOUT（大概1800ms就会返回一次）。

7 条评论

DJI Developer Support

2022年03月21日 07:34
请问OSDK端直接使用MOP sample是否可以复现到这个问题呢？可以提供一下完整的终端log，以便查看确认。
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Tdmhunter

2022年03月21日 07:51
未接收到任何数据之前，程序表现正常：未收到数据之前blocking，达到一个较长的timeout时间后，返回timeout。接收过一次数据之后，recvData开始按照1800ms左右的间隔返回timeOut
[2867554.480]STATUS/1 @ accept, L94: /*! 4.Accept finished */
[2867554.480]STATUS/1 @ accept, L96: MOP channel [49150] accepted success
[2867554.480]STATUS/1 @ normalAccept, L93: accept successfully
[2867554.480]STATUS/1 @ normalServerReceiver, L139: [normal-service] running normal service
[2867563.887]STATUS/1 @ normalServerReceiver, L167: [Normal-Service] recv data from cilent, len:1
[2867563.887]STATUS/1 @ normalServerReceiver, L181: [Normal-Service] msg is fan info, fan_id:246
[2867563.887]STATUS/1 @ normalServerReceiver, L182: [Normal-Service] msg is fan info, fan_id:40
[2867563.887]STATUS/1 @ normalServerReceiver, L183: [Normal-Service] msg is fan info, fan_id:92
[2867563.887]STATUS/1 @ normalServerReceiver, L184: [Normal-Service] msg is fan info, fan_id:143
[2867563.928]STATUS/1 @ normalServerReceiver, L139: [normal-service] running normal service
[2867565.729]STATUS/1 @ normalServerReceiver, L149: [Normal-Service] receive timeout
[2867565.729]STATUS/1 @ normalServerReceiver, L139: [normal-service] running normal service
[2867567.530]STATUS/1 @ normalServerReceiver, L149: [Normal-Service] receive timeout
[2867567.530]STATUS/1 @ normalServerReceiver, L139: [normal-service] running normal service
[2867569.331]STATUS/1 @ normalServerReceiver, L149: [Normal-Service] receive timeout
[2867569.331]STATUS/1 @ normalServerReceiver, L139: [normal-service] running normal service
[2867571.131]STATUS/1 @ normalServerReceiver, L149: [Normal-Service] receive timeout
[2867571.131]STATUS/1 @ normalServerReceiver, L139: [normal-service] running normal service
[2867572.932]STATUS/1 @ normalServerReceiver, L149: [Normal-Service] receive timeout
[2867572.932]STATUS/1 @ normalServerReceiver, L139: [normal-service] running normal service
[2867574.733]STATUS/1 @ normalServerReceiver, L149: [Normal-Service] receive timeout
[2867574.733]STATUS/1 @ normalServerReceiver, L139: [normal-service] running normal service
[2867576.534]STATUS/1 @ normalServerReceiver, L149: [Normal-Service] receive timeout
[2867576.534]STATUS/1 @ normalServerReceiver, L139: [normal-service] running normal service
[2867578.334]STATUS/1 @ normalServerReceiver, L149: [Normal-Service] receive timeout
[2867578.334]STATUS/1 @ normalServerReceiver, L139: [normal-service] running normal service
[2867580.135]STATUS/1 @ normalServerReceiver, L149: [Normal-Service] receive timeout
[2867580.135]STATUS/1 @ normalServerReceiver, L139: [normal-service] running normal service
[2867581.936]STATUS/1 @ normalServerReceiver, L149: [Normal-Service] receive timeout
[2867581.936]STATUS/1 @ normalServerReceiver, L139: [normal-service] running normal service
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Tdmhunter

2022年03月21日 07:52
void

MopManager::normalAccept()

{

PipelineType type = RELIABLE;

PipelineID id = OM_NORMAL_RELIABLE_PIPELINE_ID;

/*! create mop server */

normalServer = new MopServer();

/*! connect pipeline */

normalPipeline = NULL;

normalReceiverRunning = false;

MopErrCode acceptRet = MOP_PASSED;

if (((acceptRet = normalServer->accept(id, type, normalPipeline)) != MOP_PASSED) ||

(normalPipeline == NULL))

{

DERROR("MOP server accept failed, ret : %d", acceptRet);

delete normalServer;

normalServer = NULL;

return;

}

else

{

DSTATUS("accept successfully");

}

normalReceiverRunning = true;

normalReceiveThread = new thread(&MopManager::normalServerReceiver, this);

normalReceiveThread->join();

delete normalReceiveThread;

/*! Disconnect pipeline */

if (normalServer->close(OM_NORMAL_RELIABLE_PIPELINE_ID) != MOP_PASSED) {

DERROR("MOP Pipeline disconnect pipeline(%d) failed", OM_NORMAL_RELIABLE_PIPELINE_ID);

} else {

DSTATUS("Disconnect mop pipeline id(%d) successfully", OM_NORMAL_RELIABLE_PIPELINE_ID);

}

delete normalServer;

normalServer = NULL;

normalReceiveThread = NULL;

}

void

MopManager::normalServerReceiver()

{

//接收缓存区

uint8_t* recvBuf = (uint8_t*)OsdkOsal_Malloc(RELIABLE_RECV_ONCE_BUFFER_SIZE);

MopErrCode mopRet;

if (recvBuf == NULL)

{

DERROR("[File-Service] OsdkOsal_Malloc recv buffer error");

return;

}

//发送缓存区

uint8_t* sendBuf = (uint8_t *)OsdkOsal_Malloc(RELIABLE_SEND_ONCE_BUFFER_SIZE);

if (sendBuf == NULL)

{

DERROR("[File-Service] OsdkOsal_Malloc send buffer error");

return;

}

//接收类型

MopPipeline::DataPackType readPack = { (uint8_t*)recvBuf,

RELIABLE_RECV_ONCE_BUFFER_SIZE };

//发送类型

MopPipeline::DataPackType writePack = {(uint8_t*)sendBuf,

RELIABLE_SEND_ONCE_BUFFER_SIZE };

while (normalReceiverRunning)

{

DSTATUS("[normal-service] running normal service");

memset(recvBuf, 0, RELIABLE_RECV_ONCE_BUFFER_SIZE);

memset(sendBuf, 0, RELIABLE_SEND_ONCE_BUFFER_SIZE);

readPack.length = RELIABLE_RECV_ONCE_BUFFER_SIZE;

writePack.length = RELIABLE_SEND_ONCE_BUFFER_SIZE;

mopRet = normalPipeline->recvData(readPack, &readPack.length);

if (mopRet != MOP_PASSED)

{

if (mopRet == MOP_TIMEOUT)

{

DSTATUS("[Normal-Service] receive timeout");

}

else if (mopRet == MOP_CONNECTIONCLOSE)

{

DSTATUS("[Normal-Service] connection of pipeline [%d] closed",

normalPipeline->getId());

DSTATUS("[Normal-Service] disconnect from cilent now stop task");

break;

}

else

{

DERROR("[Normal-Service] recv data from cilent error,stat:%lld",

mopRet);

}

//OsdkOsal_TaskSleepMs(1000);

}

else

{

DSTATUS("[Normal-Service] recv data from cilent, len:%d",

readPack.length);

if (readPack.length > 0)

{

NormalMessage *msg = (NormalMessage *) recvBuf;

switch(msg->cmd) {

case NORMAL_CMD_FAN_CENTER:

//todo: 替换成实际获取经纬度的方法

Location location;

location.fan_center[0] = 3.12;

location.fan_center[1] = 131.63;

location.fan_center[2] = 135.72;

sendBuf[0] = NORMAL_CMD_FAN_CENTER;

memcpy(sendBuf + 1, &location, sizeof(Location));

DSTATUS("[Normal-Service] msg is fan info, fan_id:%d", (int)sendBuf[1]);

DSTATUS("[Normal-Service] msg is fan info, fan_id:%d", (int)sendBuf[2]);

DSTATUS("[Normal-Service] msg is fan info, fan_id:%d", (int)sendBuf[3]);

DSTATUS("[Normal-Service] msg is fan info, fan_id:%d", (int)sendBuf[4]);

mopRet = normalPipeline->sendData(writePack, &writePack.length);

if (mopRet != MOP_PASSED)

{

DSTATUS("[Normal-Service] send data fail:%d", mopRet);

}

break;

case NORMAL_CMD_FLIGHT_INFO:

InfoMsg infoMsg;

memcpy(&infoMsg, msg->data, sizeof(InfoMsg));

DSTATUS("[Normal-Service] msg is fan info, fan_id:%s", infoMsg.fan_id);

break;

case NORMAL_CMD_INSPECT_STATE:

break;

case NORMAL_CMD_TEST:

break;

case NORMAL_CMD_OTHER_INFO:

break;

default:

break;

}

}

}

}

OsdkOsal_Free(recvBuf);

OsdkOsal_Free(sendBuf);

}
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Tdmhunter

2022年03月21日 07:53
程序片段如上，Mop Sample没有测试
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DJI Developer Support

2022年03月21日 12:09
1、Timeout通常是没有收到数据，报timeout时，MSDK是已经停止发送数据了吗？是否后续MSDK发送的数据均无法接收到了？ 2、建议先使用MSDK sample与OSDK程序对调，或者使用OSDK sample与MSDK端程序打通数据传输。也可以方便确认是MSDK端还是OSDK端出现异常。
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Tdmhunter

2022年03月22日 02:57
timeout这个机制我理解，我不确定的是在没有数据传输时recv端如此频繁地返回timeout是否正常，刚测试用MOP sample也是相同的问题（在msdp端upload文件，upload成功后，osdk端频繁返回timeout）。
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DJI Developer Support

2022年03月22日 03:43
这个接口没有办法修改超时时间，如果是已经停止发送数据，可以考虑发送端将通道关闭，如果不发送数据了还需维护通道，继续接收数据即可。不需要做log的情况下，可以将此打印关闭。前提是要确保再次发送数据通道正常。
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