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MAVProxy support retries from cmd line #1353

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merged 2 commits into from
Apr 10, 2024
Merged

MAVProxy support retries from cmd line #1353

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72c49c1
mavproxy: add command option for setting retries
joshanne Apr 9, 2024
d044a6c
modules: allow link to specify number of retries
joshanne Apr 9, 2024
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5 changes: 3 additions & 2 deletions MAVProxy/mavproxy.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1301,6 +1301,7 @@ def set_mav_version(mav10, mav20, autoProtocol, mavversionArg):
parser.add_option("--version", action='store_true', help="version information")
parser.add_option("--default-modules", default="log,signing,wp,rally,fence,ftp,param,relay,tuneopt,arm,mode,calibration,rc,auxopt,misc,cmdlong,battery,terrain,output,adsb,layout", help='default module list')
parser.add_option("--udp-timeout",dest="udp_timeout", default=0.0, type='float', help="Timeout for udp clients in seconds")
parser.add_option("--retries", type=int, help="number of times to retry connection", default=3)

(opts, args) = parser.parse_args()
if len(args) != 0:
Expand Down Expand Up @@ -1402,9 +1403,9 @@ def quit_handler(signum = None, frame = None):
for mdev in opts.master:
if mdev.find('?') != -1 or mdev.find('*') != -1:
for m in glob.glob(mdev):
if not mpstate.module('link').link_add(m, force_connected=opts.force_connected):
if not mpstate.module('link').link_add(m, force_connected=opts.force_connected, retries=opts.retries):
sys.exit(1)
elif not mpstate.module('link').link_add(mdev, force_connected=opts.force_connected):
elif not mpstate.module('link').link_add(mdev, force_connected=opts.force_connected, retries=opts.retries):
sys.exit(1)

if not opts.master and len(serial_list) == 1:
Expand Down
8 changes: 5 additions & 3 deletions MAVProxy/modules/mavproxy_link.py
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Original file line number Diff line number Diff line change
Expand Up @@ -323,7 +323,7 @@ def apply_link_attributes(self, conn, optional_attributes):
print("Applying attribute to link: %s = %s" % (attr, optional_attributes[attr]))
setattr(conn, attr, optional_attributes[attr])

def link_add(self, descriptor, force_connected=False):
def link_add(self, descriptor, force_connected=False, retries=3):
'''add new link'''
try:
(device, optional_attributes) = self.parse_link_descriptor(descriptor)
Expand All @@ -342,13 +342,15 @@ def link_add(self, descriptor, force_connected=False):
conn = mavutil.mavlink_connection(device, autoreconnect=True,
source_system=self.settings.source_system,
baud=self.settings.baudrate,
force_connected=force_connected)
force_connected=force_connected,
retries=retries)
except Exception as e:
# try the same thing but without force-connected for
# backwards-compatability
conn = mavutil.mavlink_connection(device, autoreconnect=True,
source_system=self.settings.source_system,
baud=self.settings.baudrate)
baud=self.settings.baudrate,
retries=retries)
conn.mav.srcComponent = self.settings.source_component
except Exception as msg:
print("Failed to connect to %s : %s" % (descriptor, msg))
Expand Down
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