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Fix immediate command polling when the device sends timeout 0 #20

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Fix immediate command polling when the device sends timeout 0 #20

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22 changes: 17 additions & 5 deletions src/SCRIPTS/ELRS/crsf_session.lua
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,7 @@ local PING_PERIOD = 100 -- discovery ping cadence while no device answered
local WRITE_SPACING = 5 -- minimum gap between parameter writes (50 ms)
local WRITE_SETTLE = 20 -- post-write quiet time before the next read
local CANCEL_GRACE = 200 -- wait for CMD_IDLE after a requested cancel (2 s)
local QUERY_PERIOD = 100 -- command poll cadence when the device sends no timeout (1 s)

local CRSFSession = {}
CRSFSession.__index = CRSFSession
Expand Down Expand Up @@ -119,6 +120,17 @@ function CRSFSession:_responseTimeout()
return self.isElrsTx and 50 or 500
end

-- Poll cadence for the active command: the device's timeout, or QUERY_PERIOD
-- when it sends none. Some devices send 0, which must not mean "poll now" --
-- that floods the link with CMD_QUERY before the answer to the click is back.
function CRSFSession:_queryPeriod()
local timeout = self.command.timeout
if timeout and timeout > 0 then
return timeout
end
return QUERY_PERIOD
end

-- ============================================================================
-- Lifecycle
-- ============================================================================
Expand Down Expand Up @@ -253,7 +265,7 @@ function CRSFSession:_onEntry(data)
self._refreshAt = now
self._refreshLeft = self._refreshAttempts
elseif self.command then
self._nextQueryAt = now + (self.command.timeout or 100)
self._nextQueryAt = now + self:_queryPeriod()
end
return
end
Expand Down Expand Up @@ -332,7 +344,7 @@ function CRSFSession:_onEntry(data)
self._nextReadAt = 0
else
if self.command then
self._nextQueryAt = now + (self.command.timeout or 100)
self._nextQueryAt = now + self:_queryPeriod()
end
if self._preloadArmed and self:isFolderLoaded(nil) then
self._preloadArmed = nil
Expand Down Expand Up @@ -575,15 +587,15 @@ function CRSFSession:execCommand(field)
field.status = crsf.CONST.CMD_CLICK
crsf.push(params.encodeCommandStep(self.deviceId, self.handsetId, field.id, crsf.CONST.CMD_CLICK))
self.command = field
self._nextQueryAt = getTime() + (field.timeout or 100)
self._nextQueryAt = getTime() + self:_queryPeriod()
end
end

--- Answer the device's CMD_ASKCONFIRM.
function CRSFSession:confirmCommand()
if self.command then
crsf.push(params.encodeCommandStep(self.deviceId, self.handsetId, self.command.id, crsf.CONST.CMD_CONFIRMED))
self._nextQueryAt = getTime() + (self.command.timeout or 100)
self._nextQueryAt = getTime() + self:_queryPeriod()
self.command.status = crsf.CONST.CMD_CONFIRMED
end
end
Expand Down Expand Up @@ -647,7 +659,7 @@ function CRSFSession:tick()
if self.command then
if now > self._nextQueryAt and self.command.status ~= crsf.CONST.CMD_ASKCONFIRM then
crsf.push(params.encodeCommandStep(self.deviceId, self.handsetId, self.command.id, crsf.CONST.CMD_QUERY))
self._nextQueryAt = now + (self.command.timeout or 100)
self._nextQueryAt = now + self:_queryPeriod()
end
return
end
Expand Down