From 9cca65019f5af06b167b68bdbc6f6d356ba07daa Mon Sep 17 00:00:00 2001
From: tajniak81 <13187254+tajniak81@users.noreply.github.com>
Date: Thu, 22 Oct 2026 09:25:28 +0200
Subject: [PATCH] Retry a timed-out waypoint upload and wait for the route to
 be ready

On the Mavic Pro in the simulator a waypoint mission failed with "Execution
of this process has timed out". The bridge now resends a timed-out upload
with retryUploadMission (up to 3 times) and only reports the upload done once
the operator is READY_TO_EXECUTE, and the error now says whether the upload
or the start failed.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 .../com/pilotvault/flyapp/MissionBridge.kt    | 41 +++++++++++++++++--
 .../fly/modes/waypoints/waypoint_start.dart   |  5 ++-
 2 files changed, 41 insertions(+), 5 deletions(-)

diff --git a/Fly App/android/app/src/main/kotlin/com/pilotvault/flyapp/MissionBridge.kt b/Fly App/android/app/src/main/kotlin/com/pilotvault/flyapp/MissionBridge.kt
index f3183b1..8b03de3 100644
--- a/Fly App/android/app/src/main/kotlin/com/pilotvault/flyapp/MissionBridge.kt	
+++ b/Fly App/android/app/src/main/kotlin/com/pilotvault/flyapp/MissionBridge.kt	
@@ -20,6 +20,7 @@ import dji.common.mission.waypoint.WaypointMissionFlightPathMode
 import dji.common.mission.waypoint.WaypointMissionGotoWaypointMode
 import dji.common.mission.waypoint.WaypointMissionHeadingMode
 import dji.common.mission.waypoint.WaypointMissionInterruption
+import dji.common.mission.waypoint.WaypointMissionState
 import dji.common.mission.waypoint.WaypointMissionUploadEvent
 import dji.common.mission.waypoint.WaypointTurnMode
 import dji.common.model.LocationCoordinate2D
@@ -417,9 +418,36 @@ class MissionBridge(private val ctx: BridgeCtx) : SubBridge {
             ctx.fail(result, loadErr.description)
             return
         }
-        // Completes once every waypoint is on the aircraft; progress arrives
-        // through the listener meanwhile.
-        op.uploadMission(ctx.completion(result))
+        // Completes once every waypoint is on the aircraft and the operator is
+        // ready to start; progress arrives through the listener meanwhile.
+        uploadWithRetry(op, result, retriesLeft = UPLOAD_RETRIES)
+    }
+
+    /**
+     * A waypoint packet that times out fails the whole upload with
+     * COMMON_TIMEOUT (seen on a Mavic Pro in the simulator); MSDK's answer is
+     * `retryUploadMission`, which resends only what is missing.
+     */
+    private fun uploadWithRetry(op: WaypointMissionOperator, result: MethodChannel.Result, retriesLeft: Int, retry: Boolean = false) {
+        val done = CommonCallbacks.CompletionCallback<DJIError> { error ->
+            ctx.mainHandler.post {
+                when {
+                    error == null -> whenReady(op, result, READY_WAIT_MS)
+                    error.errorCode == DJIError.COMMON_TIMEOUT.errorCode && retriesLeft > 0 -> uploadWithRetry(op, result, retriesLeft - 1, retry = true)
+                    else -> result.error("DJI_ERROR", error.description, null)
+                }
+            }
+        }
+        if (retry) op.retryUploadMission(done) else op.uploadMission(done)
+    }
+
+    /** The upload callback can land before the state says READY_TO_EXECUTE; a start then times out. */
+    private fun whenReady(op: WaypointMissionOperator, result: MethodChannel.Result, waitMs: Long) {
+        when {
+            op.currentState == WaypointMissionState.READY_TO_EXECUTE -> result.success(null)
+            waitMs <= 0 -> result.error("DJI_ERROR", "The aircraft never reported the route ready (${op.currentState?.name})", null)
+            else -> ctx.mainHandler.postDelayed({ whenReady(op, result, waitMs - READY_POLL_MS) }, READY_POLL_MS)
+        }
     }
 
     private fun startActiveTrack(call: MethodCall, result: MethodChannel.Result) {
@@ -474,3 +502,10 @@ class MissionBridge(private val ctx: BridgeCtx) : SubBridge {
     @Volatile private var v2Active = false
     private val v2 = WaypointV2(ctx) { v2Active = it }
 }
+
+/** How often a timed-out waypoint upload is resent before giving up. */
+private const val UPLOAD_RETRIES = 3
+
+/** How long an uploaded route may take to reach READY_TO_EXECUTE, polled every [READY_POLL_MS]. */
+private const val READY_WAIT_MS = 5000L
+private const val READY_POLL_MS = 200L
diff --git a/Fly App/lib/ui/fly/modes/waypoints/waypoint_start.dart b/Fly App/lib/ui/fly/modes/waypoints/waypoint_start.dart
index 299c99e..b9c918f 100644
--- a/Fly App/lib/ui/fly/modes/waypoints/waypoint_start.dart	
+++ b/Fly App/lib/ui/fly/modes/waypoints/waypoint_start.dart	
@@ -39,9 +39,10 @@ Future<void> startWaypointFlow(
     ),
   );
   if (r == null) return;
+  bool uploaded = false;
   try {
-    await gate.startWaypointMission(spec, limits: limits, rthHeight: r.number);
+    await gate.startWaypointMission(spec, limits: limits, rthHeight: r.number, onUploaded: () => uploaded = true);
   } catch (e) {
-    onError('Waypoint mission', e);
+    onError(uploaded ? 'Waypoint start' : 'Waypoint upload', e);
   }
 }