4899817366

Build Type

github

Committed by GitHub

Commit Message

Merge c0bb90862 into e4e9c71dd

Pull Request Pull Request #1772: Refactor MAVLinkParameters into client and server classes

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90.41

/src/mavsdk/core/mavlink_parameter_cache.cpp

#include "mavlink_parameter_cache.h"

#include <algorithm>

namespace mavsdk {

MavlinkParameterCache::AddNewParamResult
MavlinkParameterCache::add_new_param(const std::string& param_id, ParamValue value, int16_t index)
{
    if (exists(param_id)) {
        return AddNewParamResult::AlreadyExists;
    }

    if (_all_params.size() + 1 > std::numeric_limits<int16_t>::max()) {
        return AddNewParamResult::TooManyParams;
    }

    _all_params.push_back(Param{
        param_id,
        std::move(value),
        (index != -1 ? static_cast<uint16_t>(index) : static_cast<uint16_t>(_all_params.size()))});
    return MavlinkParameterCache::AddNewParamResult::Ok;
}

MavlinkParameterCache::UpdateExistingParamResult
MavlinkParameterCache::update_existing_param(const std::string& param_id, ParamValue value)
{
    auto it = std::find_if(_all_params.begin(), _all_params.end(), [&](const auto& param) {
        return (param_id == param.id);
    });

    if (it == _all_params.end()) {
        return UpdateExistingParamResult::MissingParam;
    }

    if (!it->value.is_same_type(value)) {
        return MavlinkParameterCache::UpdateExistingParamResult::WrongType;
    } else {
        it->value.update_value_typesafe(value);
        return MavlinkParameterCache::UpdateExistingParamResult::Ok;
    }
}

std::vector<MavlinkParameterCache::Param>
MavlinkParameterCache::all_parameters(bool including_extended) const
{
    if (including_extended) {
        return _all_params;
    } else {
        // TODO: we might want to cache this
        std::vector<MavlinkParameterCache::Param> vec{};
        for (const auto& entry : _all_params) {
            if (entry.value.needs_extended() && !including_extended) {
                continue;
            }
            vec.push_back(entry);
        }
        return vec;
    }
}

std::map<std::string, ParamValue>
MavlinkParameterCache::all_parameters_map(bool including_extended) const
{
    std::map<std::string, ParamValue> mp{};
    if (including_extended) {
        for (const auto& param : _all_params) {
            mp.insert({param.id, param.value});
        }

    } else {
        for (const auto& param : _all_params) {
            if (param.value.needs_extended()) {
                continue;
            }
            mp.insert({param.id, param.value});
        }
    }

    return mp;
}

std::optional<MavlinkParameterCache::Param>
MavlinkParameterCache::param_by_id(const std::string& param_id, bool including_extended) const
{
    const auto& params = all_parameters(including_extended);

    for (const auto& param : params) {
        if (param.id == param_id) {
            return param;
        }
    }

    return {};
}

std::optional<MavlinkParameterCache::Param>
MavlinkParameterCache::param_by_index(uint16_t param_index, bool including_extended) const
{
    const auto& params = all_parameters(including_extended);
    if (param_index > params.size()) {
        LogErr() << "param at " << (int)param_index << " out of bounds";
        return {};
    }

    const auto& param = params[param_index];
    // Check that the redundant index matches the actual vector index.
    assert(param.index == param_index);
    return {param};
}

uint16_t MavlinkParameterCache::count(bool including_extended) const
{
    const auto num = all_parameters(including_extended).size();
    assert(num < std::numeric_limits<uint16_t>::max());
    return static_cast<uint16_t>(num);
}

void MavlinkParameterCache::clear()
{
    _all_params.clear();
}

bool MavlinkParameterCache::exists(const std::string& param_id) const
{
    auto it = std::find_if(_all_params.begin(), _all_params.end(), [&](const auto& param) {
        return (param_id == param.id);
    });
    return it != _all_params.end();
}

std::optional<uint16_t> MavlinkParameterCache::next_missing_index(uint16_t count)
{
    // Extended doesn't matter here because we use this function in the sender
    // which is always either all extended or not.
    std::sort(_all_params.begin(), _all_params.end(), [](const auto& lhs, const auto& rhs) {
        return lhs.index < rhs.index;
    });

    for (unsigned i = 0; i < count; ++i) {
        if (_all_params.size() <= i) {
            // We have reached the end but it's not complete yet.
            return i;
        }
        if (_all_params[i].index > i) {
            // We have found a hole to fill.
            return i;
        }
    }
    return {};
}

} // namespace mavsdk

1	#include "mavlink_parameter_cache.h"
2
3	#include <algorithm>
4
5	namespace mavsdk {
6
7	MavlinkParameterCache::AddNewParamResult
8	MavlinkParameterCache::add_new_param(const std::string& param_id, ParamValue value, int16_t index)	70✔
9	{
10	if (exists(param_id)) {	70✔
11	return AddNewParamResult::AlreadyExists;	8✔
12	}
13
14	if (_all_params.size() + 1 > std::numeric_limits<int16_t>::max()) {	62✔
15	return AddNewParamResult::TooManyParams;	×
16	}
17
18	_all_params.push_back(Param{	186✔
19	param_id,
20	std::move(value),	62✔
21	(index != -1 ? static_cast<uint16_t>(index) : static_cast<uint16_t>(_all_params.size()))});	62✔
22	return MavlinkParameterCache::AddNewParamResult::Ok;	62✔
23	}
24
25	MavlinkParameterCache::UpdateExistingParamResult
26	MavlinkParameterCache::update_existing_param(const std::string& param_id, ParamValue value)	13✔
27	{
28	auto it = std::find_if(_all_params.begin(), _all_params.end(), [&](const auto& param) {	13✔
29	return (param_id == param.id);	18✔
30	});	13✔
31
32	if (it == _all_params.end()) {	13✔
33	return UpdateExistingParamResult::MissingParam;	1✔
34	}
35
36	if (!it->value.is_same_type(value)) {	12✔
37	return MavlinkParameterCache::UpdateExistingParamResult::WrongType;	1✔
38	} else {
39	it->value.update_value_typesafe(value);	11✔
40	return MavlinkParameterCache::UpdateExistingParamResult::Ok;	11✔
41	}
42	}
43
44	std::vector<MavlinkParameterCache::Param>
45	MavlinkParameterCache::all_parameters(bool including_extended) const	124✔
46	{
47	if (including_extended) {	124✔
48	return _all_params;	53✔
49	} else {
50	// TODO: we might want to cache this
51	std::vector<MavlinkParameterCache::Param> vec{};	142✔
52	for (const auto& entry : _all_params) {	253✔
53	if (entry.value.needs_extended() && !including_extended) {	182✔
54	continue;	18✔
55	}
56	vec.push_back(entry);	164✔
57	}
58	return vec;	71✔
59	}
60	}
61
62	std::map<std::string, ParamValue>
63	MavlinkParameterCache::all_parameters_map(bool including_extended) const	4✔
64	{
65	std::map<std::string, ParamValue> mp{};	4✔
66	if (including_extended) {	4✔
67	for (const auto& param : _all_params) {	20✔
68	mp.insert({param.id, param.value});	18✔
69	}
70
71	} else {
72	for (const auto& param : _all_params) {	14✔
73	if (param.value.needs_extended()) {	12✔
74	continue;	×
75	}
76	mp.insert({param.id, param.value});	12✔
77	}
78	}
79
80	return mp;	4✔
81	}
82
83	std::optional<MavlinkParameterCache::Param>
84	MavlinkParameterCache::param_by_id(const std::string& param_id, bool including_extended) const	51✔
85	{
86	const auto& params = all_parameters(including_extended);	102✔
87
88	for (const auto& param : params) {	66✔
89	if (param.id == param_id) {	56✔
90	return param;	41✔
91	}
92	}
93
94	return {};	10✔
95	}
96
97	std::optional<MavlinkParameterCache::Param>
98	MavlinkParameterCache::param_by_index(uint16_t param_index, bool including_extended) const	2✔
99	{
100	const auto& params = all_parameters(including_extended);	4✔
101	if (param_index > params.size()) {	2✔
102	LogErr() << "param at " << (int)param_index << " out of bounds";	×
103	return {};	×
104	}
105
106	const auto& param = params[param_index];	2✔
107	// Check that the redundant index matches the actual vector index.
108	assert(param.index == param_index);	2✔
109	return {param};	2✔
110	}
111
112	uint16_t MavlinkParameterCache::count(bool including_extended) const	64✔
113	{
114	const auto num = all_parameters(including_extended).size();	64✔
115	assert(num < std::numeric_limits<uint16_t>::max());	64✔
116	return static_cast<uint16_t>(num);	64✔
117	}
118
119	void MavlinkParameterCache::clear()	×
120	{
121	_all_params.clear();	×
122	}	×
123
124	bool MavlinkParameterCache::exists(const std::string& param_id) const	70✔
125	{
126	auto it = std::find_if(_all_params.begin(), _all_params.end(), [&](const auto& param) {	70✔
127	return (param_id == param.id);	210✔
128	});	70✔
129	return it != _all_params.end();	70✔
130	}
131
132	std::optional<uint16_t> MavlinkParameterCache::next_missing_index(uint16_t count)	8✔
133	{
134	// Extended doesn't matter here because we use this function in the sender
135	// which is always either all extended or not.
136	std::sort(_all_params.begin(), _all_params.end(), [](const auto& lhs, const auto& rhs) {	8✔
137	return lhs.index < rhs.index;	31✔
138	});
139
140	for (unsigned i = 0; i < count; ++i) {	23✔
141	if (_all_params.size() <= i) {	22✔
142	// We have reached the end but it's not complete yet.
143	return i;	4✔
144	}
145	if (_all_params[i].index > i) {	18✔
146	// We have found a hole to fill.
147	return i;	3✔
148	}
149	}
150	return {};	1✔
151	}
152
153	} // namespace mavsdk

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