Change crtpSendPacket->crtpSendPacketBlock for request/respond CRTP msg

src/modules/src/crtp_commander_high_level.c

@@ -393,7 +393,7 @@ void crtpCommanderHighLevelTask(void * prm)
     //answer
     p.data[3] = ret;
     p.size = 4;
-    crtpSendPacket(&p);
+    crtpSendPacketBlock(&p);
   }
 }
 

src/modules/src/crtp_localization_service.c

@@ -215,6 +215,7 @@ static void lpsShortLppPacketHandler(CRTPPacket* pk) {
     pk->size = 3;
     pk->data[0] = LPS_SHORT_LPP_PACKET;
     pk->data[2] = success?1:0;
+    // This is best effort, i.e. the blocking version is not needed
     crtpSendPacket(pk);
   }
 }
@@ -251,7 +252,7 @@ static void lhPersistDataWorker(void* arg) {
     .data = {LH_PERSIST_DATA, result}
   };
 
-  crtpSendPacket(&response);
+  crtpSendPacketBlock(&response);
 }
 
 static void lhPersistDataHandler(CRTPPacket* pk) {
@@ -328,6 +329,7 @@ void locSrvSendRangeFloat(uint8_t id, float range)
       pkRange.port = CRTP_PORT_LOCALIZATION;
       pkRange.channel = GENERIC_TYPE;
       pkRange.size = sizeof(rangePacket);
+      // This is best effort, i.e. the blocking version is not needed
       crtpSendPacket(&pkRange);
       rangeIndex = 0;
     }
@@ -356,6 +358,7 @@ void locSrvSendLighthouseAngle(int basestation, pulseProcessorResult_t* angles)
     LhAngle.port = CRTP_PORT_LOCALIZATION;
     LhAngle.channel = GENERIC_TYPE;
     LhAngle.size = sizeof(anglePacket);
+    // This is best effort, i.e. the blocking version is not needed
     crtpSendPacket(&LhAngle);
   }
 }

src/modules/src/info.c

@@ -94,7 +94,7 @@ void infoTask(void *param)
             strcpy((char*)&p.data[3], "CrazyFlie");
 
             p.size = 3+strlen("CrazyFlie");
-            crtpSendPacket(&p);
+            crtpSendPacketBlock(&p);
           } else if (p.data[0] == infoVersion) {
             i=1;
 
@@ -115,12 +115,12 @@ void infoTask(void *param)
             if (i<31) p.data[i++] = V_MODIFIED?'M':'C';
 
             p.size = (i<31)?i:31;
-            crtpSendPacket(&p);
+            crtpSendPacketBlock(&p);
           } else if (p.data[0] == infoCpuId) {
             memcpy((char*)&p.data[1], (char*)CpuId, 12);
 
             p.size = 13;
-            crtpSendPacket(&p);
+            crtpSendPacketBlock(&p);
           }
 
           break;
@@ -132,21 +132,21 @@ void infoTask(void *param)
             memcpy(&p.data[1], (char*)&value, 4);
 
             p.size = 5;
-            crtpSendPacket(&p);
+            crtpSendPacketBlock(&p);
           } else if (p.data[0] == batteryMax) {
             float value = pmGetBatteryVoltageMax();
 
             memcpy(&p.data[1], (char*)&value, 4);
 
             p.size = 5;
-            crtpSendPacket(&p);
+            crtpSendPacketBlock(&p);
           } else if (p.data[0] == batteryMin) {
             float value = pmGetBatteryVoltageMin();
 
             memcpy(&p.data[1], (char*)&value, 4);
 
             p.size = 5;
-            crtpSendPacket(&p);
+            crtpSendPacketBlock(&p);
           }
           break;
         default:
@@ -168,7 +168,7 @@ void infoTask(void *param)
         memcpy(&p.data[1], (char*)&value, 4);
 
         p.size = 5;
-        crtpSendPacket(&p);
+        crtpSendPacketBlock(&p);
       }
     }
 

src/modules/src/log.c

@@ -276,7 +276,7 @@ void logTOCProcess(int command)
     memcpy(&p.data[2], &logsCrc, 4);
     p.data[6]=LOG_MAX_BLOCKS;
     p.data[7]=LOG_MAX_OPS;
-    crtpSendPacket(&p);
+    crtpSendPacketBlock(&p);
     break;
   case CMD_GET_ITEM:  //Get log variable
     LOG_DEBUG("Packet is TOC_GET_ITEM Id: %d\n", p.data[1]);
@@ -308,13 +308,13 @@ void logTOCProcess(int command)
       ASSERT(p.size <= CRTP_MAX_DATA_SIZE); // Too long! The name of the group or the parameter may be too long.
       memcpy(p.data+3, group, strlen(group)+1);
       memcpy(p.data+3+strlen(group)+1, logs[ptr].name, strlen(logs[ptr].name)+1);
-      crtpSendPacket(&p);
+      crtpSendPacketBlock(&p);
     } else {
       LOG_DEBUG("    Index out of range!");
       p.header=CRTP_HEADER(CRTP_PORT_LOG, TOC_CH);
       p.data[0]=CMD_GET_ITEM;
       p.size=1;
-      crtpSendPacket(&p);
+      crtpSendPacketBlock(&p);
     }
     break;
   case CMD_GET_INFO_V2: //Get info packet about the log implementation
@@ -328,7 +328,7 @@ void logTOCProcess(int command)
     memcpy(&p.data[3], &logsCrc, 4);
     p.data[7]=LOG_MAX_BLOCKS;
     p.data[8]=LOG_MAX_OPS;
-    crtpSendPacket(&p);
+    crtpSendPacketBlock(&p);
     break;
   case CMD_GET_ITEM_V2:  //Get log variable
     memcpy(&logId, &p.data[1], 2);
@@ -361,13 +361,13 @@ void logTOCProcess(int command)
       ASSERT(p.size <= CRTP_MAX_DATA_SIZE); // Too long! The name of the group or the parameter may be too long.
       memcpy(p.data+4, group, strlen(group)+1);
       memcpy(p.data+4+strlen(group)+1, logs[ptr].name, strlen(logs[ptr].name)+1);
-      crtpSendPacket(&p);
+      crtpSendPacketBlock(&p);
     } else {
       LOG_DEBUG("    Index out of range!");
       p.header=CRTP_HEADER(CRTP_PORT_LOG, TOC_CH);
       p.data[0]=CMD_GET_ITEM_V2;
       p.size=1;
-      crtpSendPacket(&p);
+      crtpSendPacketBlock(&p);
     }
     break;
   }
@@ -417,7 +417,7 @@ void logControlProcess()
   //Commands answer
   p.data[2] = ret;
   p.size = 3;
-  crtpSendPacket(&p);
+  crtpSendPacketBlock(&p);
 }
 
 static int logCreateBlock(unsigned char id, struct ops_setting * settings, int len)
@@ -865,6 +865,7 @@ void logRunBlock(void * arg)
   }
   else
   {
+    // No need to block here, since logging is not guaranteed
     crtpSendPacket(&pk);
   }
 }

src/modules/src/mem.c

@@ -180,14 +180,14 @@ static void memSettingsProcess(CRTPPacket* p) {
   switch (p->data[0]) {
     case MEM_CMD_GET_NBR:
       createNbrResponse(p);
-      crtpSendPacket(p);
+      crtpSendPacketBlock(p);
       break;
 
     case MEM_CMD_GET_INFO:
       {
         uint8_t memId = p->data[1];
         createInfoResponse(p, memId);
-        crtpSendPacket(p);
+        crtpSendPacketBlock(p);
       }
       break;
 
@@ -263,7 +263,7 @@ static void memReadProcess(CRTPPacket* p) {
     p->size = 6;
   }
 
-  crtpSendPacket(p);
+  crtpSendPacketBlock(p);
 }
 
 static void memWriteProcess(CRTPPacket* p) {
@@ -292,7 +292,7 @@ static void memWriteProcess(CRTPPacket* p) {
   p->data[5] = result ? STATUS_OK : EIO;
   p->size = 6;
 
-  crtpSendPacket(p);
+  crtpSendPacketBlock(p);
 }
 
 /**

src/modules/src/param.c

@@ -202,7 +202,7 @@ void paramTask(void * prm)
 
         p.data[1+strlen(group)+1+strlen(name)+1] = error;
         p.size = 1+strlen(group)+1+strlen(name)+1+1;
-        crtpSendPacket(&p);
+        crtpSendPacketBlock(&p);
       }
     }
 	}
@@ -230,7 +230,7 @@ void paramTOCProcess(int command)
       p.data[1]=255;
     }
     memcpy(&p.data[2], &paramsCrc, 4);
-    crtpSendPacket(&p);
+    crtpSendPacketBlock(&p);
     break;
   case CMD_GET_ITEM:  //Get param variable
     for (ptr=0; ptr<paramsLen; ptr++) //Ptr points a group
@@ -260,12 +260,12 @@ void paramTOCProcess(int command)
       ASSERT(p.size <= CRTP_MAX_DATA_SIZE); // Too long! The name of the group or the parameter may be too long.
       memcpy(p.data+3, group, strlen(group)+1);
       memcpy(p.data+3+strlen(group)+1, params[ptr].name, strlen(params[ptr].name)+1);
-      crtpSendPacket(&p);
+      crtpSendPacketBlock(&p);
     } else {
       p.header=CRTP_HEADER(CRTP_PORT_PARAM, TOC_CH);
       p.data[0]=CMD_GET_ITEM;
       p.size=1;
-      crtpSendPacket(&p);
+      crtpSendPacketBlock(&p);
     }
     break;
   case CMD_GET_INFO_V2: //Get info packet about the param implementation
@@ -276,7 +276,7 @@ void paramTOCProcess(int command)
     p.data[0]=CMD_GET_INFO_V2;
     memcpy(&p.data[1], &paramsCount, 2);
     memcpy(&p.data[3], &paramsCrc, 4);
-    crtpSendPacket(&p);
+    crtpSendPacketBlock(&p);
     useV2 = true;
     break;
   case CMD_GET_ITEM_V2:  //Get param variable
@@ -308,12 +308,12 @@ void paramTOCProcess(int command)
       ASSERT(p.size <= CRTP_MAX_DATA_SIZE); // Too long! The name of the group or the parameter may be too long.
       memcpy(p.data+4, group, strlen(group)+1);
       memcpy(p.data+4+strlen(group)+1, params[ptr].name, strlen(params[ptr].name)+1);
-      crtpSendPacket(&p);
+      crtpSendPacketBlock(&p);
     } else {
       p.header=CRTP_HEADER(CRTP_PORT_PARAM, TOC_CH);
       p.data[0]=CMD_GET_ITEM_V2;
       p.size=1;
-      crtpSendPacket(&p);
+      crtpSendPacketBlock(&p);
     }
     break;
   }
@@ -334,7 +334,7 @@ static void paramWriteProcess()
       p.data[2] = ENOENT;
       p.size = 3;
 
-      crtpSendPacket(&p);
+      crtpSendPacketBlock(&p);
       return;
     }
 
@@ -357,7 +357,7 @@ static void paramWriteProcess()
         break;
     }
 
-    crtpSendPacket(&p);
+    crtpSendPacketBlock(&p);
   } else {
     int ident = p.data[0];
     void* valptr = &p.data[1];
@@ -371,7 +371,7 @@ static void paramWriteProcess()
       p.data[2] = ENOENT;
       p.size = 3;
 
-      crtpSendPacket(&p);
+      crtpSendPacketBlock(&p);
       return;
     }
 
@@ -394,7 +394,7 @@ static void paramWriteProcess()
         break;
     }
 
-    crtpSendPacket(&p);
+    crtpSendPacketBlock(&p);
   }
 }
 
@@ -460,7 +460,7 @@ static void paramReadProcess()
       p.data[2] = ENOENT;
       p.size = 3;
 
-      crtpSendPacket(&p);
+      crtpSendPacketBlock(&p);
       return;
     }
 
@@ -495,7 +495,7 @@ static void paramReadProcess()
       p.data[2] = ENOENT;
       p.size = 3;
 
-      crtpSendPacket(&p);
+      crtpSendPacketBlock(&p);
       return;
     }
 
@@ -521,7 +521,7 @@ static void paramReadProcess()
     }
   }
 
-  crtpSendPacket(&p);
+  crtpSendPacketBlock(&p);
 }
 
 static int variableGetIndex(int id)
@@ -729,7 +729,7 @@ void paramSetInt(paramVarId_t varid, int valuei)
   }
 
 #ifndef SILENT_PARAM_UPDATES
-  crtpSendPacket(&pk);
+  crtpSendPacketBlock(&pk);
 #endif
 }
 
@@ -752,6 +752,6 @@ void paramSetFloat(paramVarId_t varid, float valuef)
   }
 
 #ifndef SILENT_PARAM_UPDATES
-  crtpSendPacket(&pk);
+  crtpSendPacketBlock(&pk);
 #endif
 }