fix(command): command multiple call protection

asv-soft · Dec 26, 2024 · ad5d8ff · ad5d8ff
1 parent a85f69e
commit ad5d8ff
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Showing 2 changed files with 11 additions and 9 deletions.
diff --git a/src/Asv.Mavlink/Microservices/Commands/Server/Ex/CommandServerEx.cs b/src/Asv.Mavlink/Microservices/Commands/Server/Ex/CommandServerEx.cs
@@ -13,7 +13,7 @@
 
 namespace Asv.Mavlink;
 
-public abstract class CommandServerEx<TArgPacket> : MavlinkMicroserviceServer, ICommandServerEx<TArgPacket>, IDisposable, IAsyncDisposable
+public abstract class CommandServerEx<TArgPacket> : MavlinkMicroserviceServer, ICommandServerEx<TArgPacket>
     where TArgPacket : MavlinkMessage
 {
     private readonly Func<TArgPacket,ushort> _cmdGetter;
@@ -37,10 +37,7 @@ protected CommandServerEx(
         _logger = server.Core.LoggerFactory.CreateLogger<CommandServerEx<TArgPacket>>();
         _cmdGetter = cmdGetter;
         _confirmationGetter = confirmationGetter;
-        _subscribe = commandsPipe.SubscribeAwait(
-            async (pkt, ct) => 
-                await OnRequest(pkt, ct).ConfigureAwait(false)
-        );
+        _subscribe = commandsPipe.SubscribeAwait(OnRequest, AwaitOperation.Parallel); // ! Important parrallel
     }
 
     public ICommandServer Base { get; }
@@ -60,7 +57,7 @@ public CommandDelegate<TArgPacket>? this[MavCmd cmd]
 
     public IEnumerable<MavCmd> SupportedCommands =>_registry.Keys.Select(x=>(MavCmd)x);
 
-    private async Task OnRequest(TArgPacket pkt, CancellationToken cancellationToken)
+    private async ValueTask OnRequest(TArgPacket pkt, CancellationToken cancellationToken)
     {
         var requester = new DeviceIdentity() { ComponentId = pkt.ComponentId, SystemId = pkt.SystemId };
         var cmd = _cmdGetter(pkt);
@@ -74,10 +71,12 @@ private async Task OnRequest(TArgPacket pkt, CancellationToken cancellationToken
                 if (confirmation != 0 && _lastCommand == cmd)
                 {
                     // do nothing, we already doing this task
-
+                    _logger.ZLogWarning($"Duplicate command {pkt}): already executin {_lastCommand} command)");
+                    await Base.SendCommandAck((MavCmd)cmd, requester,
+                        CommandResult.FromResult(MavResult.MavResultInProgress), DisposeCancel).ConfigureAwait(false);    
                     return;
                 }
-                _logger.ZLogWarning($"Reject command {pkt}): too busy now");
+                _logger.ZLogWarning($"Reject command {pkt}): too busy now (executing {_lastCommand} command)");
                 await Base.SendCommandAck((MavCmd)cmd, requester,
                     CommandResult.FromResult(MavResult.MavResultTemporarilyRejected), DisposeCancel).ConfigureAwait(false);
                 return;

diff --git a/src/Asv.Mavlink/Microservices/Missions/Server/MissionServer.cs b/src/Asv.Mavlink/Microservices/Missions/Server/MissionServer.cs
@@ -63,7 +63,10 @@ public ValueTask SendReached(ushort seq)
     public ValueTask SendMissionCurrent(ushort current, CancellationToken cancel = default)
     {
         _currentMissionIndex = current;
-        return InternalSend<MissionCurrentPacket>(x => x.Payload.Seq = current, cancel);
+        return InternalSend<MissionCurrentPacket>(x =>
+        {
+            x.Payload.Seq = current;
+        }, cancel);
     }
 
     public ValueTask SendMissionItemInt(ServerMissionItem item,byte targetSystemId = 0, byte targetComponentId = 0,CancellationToken cancel = default)